Abstract
In this section we present a few conclusions pertaining to the suitability of our proposed architecture for implementing, designing and analyzing PSC.
The two-agent architecture has been shown to be sound and complete. Further research is needed to prove and test a network with more than two agents.
The architecture is easily extensible. Additional rules can be easily added to reflected changes in goals or constraints. This feature allows easy and flexible customization of the agent behavior and goals.
Robustness was demonstrated by showing that small variations in goals produced small variations in behavior. The architecture also responded appropriately to introduced errors, such as process shutdown and interrupted material flow, making adaptations to the goals and constraints to reflect these changes.
The simulation also demonstrated the architecture's ability to incorporate externally coded algorithms, a scheduler in this case.
Research supported by ORA Corp., DARPA-US ARMY AMCCOM (Picatinny Arsenal, NJ) contract DAAA21-92-C-0013, the U. S. Army Research Office contract DAAL03-91-C-0027.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
R. Aris, The Mathematical Theory of Diffusion and Reaction in Permeable Catalysts, vol. 2, Calendon Press, Oxford, 1975.
M. Ben-Ari, Principles of Concurrent Programming, Prentice-Hall, 1990.
K. M. Chandy and J. Misra, An Introduction to Parallel Program Design, Addison-Wesley, 1988.
N. Coleman, An Emulation-Simulation for Intelligent Controls, Proc. of the Workshop on Software Tools for Distributed Intelligent Control Systems, 37–52, July 17–19, 1990, Pacifica, California.
R. T. Dodhiawala, V. Jagoenthan, and L. S. Baum, Erasmus System Design: Performance Issues, Proc. of the Workshop on Blackboard Implementation Issues, AIII, Seattle, WA, July, 1987.
S. Eilenberg, Automata, Languages, and Machines (vol. A), Academic Press, New York, 1974.
H. Garcia and A. Ray, Nonlinear Reinforcement Schemes for Learning Automata, Proc. 29th IEEE CDC, vol. 4, 2204–2207, Honolulu, Hawaii, Dec 5–7, 1990.
J. Goldstine, A Rational Theory of AFL's, LCNS 71, 271–281, 1979.
R. L. Grossman and R. G. Larson, Viewing Hybrid Systems as Products of Control Systems and Automata, Proc. IEEE 31st CDC,vol. 3, 2953–2955, Tucson, 1992.
J. Guckenheimer, A. Back, M. Myers, A Dynamical Simulation Facility for Hybrid Systems, MSI Tech. Report 92-6, Cornell University, 1992.
J. Guckenheimer and A. Nerode, Simulation for Hybrid and Nonlinear Control, Proc. IEEE 31st CDC, vol. 3, 2981–2983, 1992.
R. Iseman, Digital Control Systems, Springer-Verlag, 1977.
M. H. Kaplan, Modern Spacecraft Dynamics and Control, John Wiley and Sons, 1976.
W. Kohn, A Declarative Theory for Rational Controllers, Proc. 27th IEEE CDC, pp. 130–136, 1988.
W. Kohn and T. Skillman, Hierarchical Control Systems for Autonomous Space Robots, Proc. AIAA, 382–390, 1988.
W. Kohn, Application of Declarative Hierarchical Methodology for the Flight Telerobotic Servicer, Boeing Document G-6630-061, Final Report of NASA-Ames Research Service Request 2072, Job Order T1988, Jan 15, 1988.
W. Kohn, The Rational Tree Machine: Technical Description and Mathematical Foundations, IR and D BE-499, Technical Document 905-10107-1, July 7, 1989, Boeing Computer Services.
W. Kohn, Rational Algebras: A Constructive Approach, IR and D BE-499, Technical Document D-905-10107-2, July 7, 1989.
W. Kohn, Cruise Missile Mission Planning: A Declarative Control Approach, Boeing Computer Services Technical Report, 1989.
W. Kohn, Declarative Multiplexed Rational Controllers, Proc. 5th IEEE Int. Symp. Intelligent Cont., pp. 794–803, 1990.
W. Kohn, Declarative Hierarchical Controllers, Proc. DARPA Workshop on Software Tools for Distributed Intelligent Control Systems, Domain Specific Software Initiative, pp. 141–163, Pacifica, Ca., July 17–19, 1990.
W. Kohn and C. Johnson, An Algebraic Approach to Formal Verification of Embedded Systems, IRD Tech. Rpt. D-180-31989-1, Boeing Computer Services, 1990.
W. Kohn, Advanced Architecture and Methods for Knowledge-Based Planning and Declarative Control, Boeing Computer Services Technical Document IRD BCS-021, 1990, in ISMIS 91.
W. Kohn and K. Carlsen, Symbolic Design and Analysis in Control, Proc. 1988 Grainger Lecture Series, U. of Illinois, pp. 40–52, 1989.
W. Kohn and A. Murphy, Multiple Agent Reactive Shop Control, ISMIS91.
W. Kohn and A. Nerode, An Autonomous Control Theory: An Overview, Proc. IEEE CACSD92, March, 1992.
W. Kohn and A. Nerode, Multiple Agent Autonomous Control Systems, Proc. 31st IEEE CDC (Tucson), 2956–2966.
W. Kohn and A. Nerode, Models for Hybrid Systems: Automata, Topologies, Controllability, Observability, this vol.
W. Kohn and T. Skillman, Hierarchical Control Systems for Autonomous Space Robots, Proc. AIAA Conf. on Guidance, Navigation, and Control, v. 1, pp.382–390, 1988.
W. Kuich and A. Salomaa, Semirings, Automata, Languages, Springer-Verlag, 1985.
J. W. S. Liu, Real Time Responsiveness in Distributed Operating Systems and Databases, Proc. Darpa Workshop on Software Tools for Intelligent Control, Domain Specific Software Initiative, pp. 185–192, Pacifica, Ca., July 17–19, 1990.
J. W. Lloyd, Foundations of Logic Programming, 2nd ed., Springer Verlag, New York, 1987.
M. Mesarovic and Y. Tashahara, Theory of Hierarchical Multilevel Systems, Academic Press, N.Y., 1970.
E. Mettala, Domain Specific Architectures, Proc. of Workshop on Domain Specific Software Architectures, 193–231, July 9–12, 1990, Hidden Valley, Calif.
A. Nerode, Modelling Intelligent Control, Proc. DARPA Workshop on Software Tools for Distributed Intelligent Control Systems, Domain Specific Software Initiative, Pacifica, Ca., July 17–19, 1990.
P. H. Nii, Blackboard Systems: The Blackboard Model of Problem Solving and the Evolution of the Blackboard Architecture, AI Magazine (7) 2, pp. 38–53, 1986.
L. E. Neustadt, Optimization, Princeton University Press, 1976.
P. Padawitz, Computing in Horn Clause Theories, Springer Verlag, 1988.
S. S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall, 1989.
M. Schoppers, Automatic Synthesis of Perception Driven Discrete Event Control Laws, Proc. 5th IEEE Inter. Symp. on Intelligent Control, 1990.
M. G. Singh, Dynamical Hierarchical Control, North Holland, Amsterdam, 1977.
T. Skillman, W. Kohn, et. al., Classes of Hierarchical Controllers and their Blackboard Implementations, J. Guidance, Control and Dynamics, (13), pp. 176–182, 1990.
J. Warga, Optimal Control of Differential and Functional Equations, Academic Press, 1972.
L. C. Young, Optimal Control Theory, Chelsea Pub. Co. N.Y, 1980.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1993 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Nerode, A., Kohn, W. (1993). Multiple agent hybrid control architecture. In: Grossman, R.L., Nerode, A., Ravn, A.P., Rischel, H. (eds) Hybrid Systems. HS HS 1992 1991. Lecture Notes in Computer Science, vol 736. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57318-6_34
Download citation
DOI: https://doi.org/10.1007/3-540-57318-6_34
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-57318-0
Online ISBN: 978-3-540-48060-0
eBook Packages: Springer Book Archive