Co-ordination and Co-operation Between CGF Agents
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Co-ordination and Co-operation Between CGF Agents
Dr Jeremy Baxter
Parallel and Distributed Simulation GroupS&P Sector, Malvern
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Overview of Presentation
Background
Co-ordination and Co-operation problems
Techniques from Multi-Agent Systems– Joint Intentions theory.
– Four step model
Example implementation– Squadron (Company) assault
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Background
“Broad Agents” based CGF system
– Military command and control structure
– Independent Agents and behaviours for each level
– Breaks up responsibilities and behaviours
TroopCommander
Command and ControlIntelligence
Higher Level Objective
SquadronCommander
TroopCommander
TroopCommander
Tank TankTank Lower Level Objectives
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Initial Co-ordination Problems
Complex composite behaviours
– Initial timing by message passing
– Prone to programming bugs
– Context lost if commander died
Weak model of group context
– produced separately from orders to subordinates
– developer responsible for linking group and sub-group states
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Generic Problems and Solutions
Existing CGF systems have problems
– Lack of co-operative group behaviour
– Co-ordination is inflexible and prone to failure
– Composite behaviours are therefore weak and brittle
Solutions from Multi Agent Systems literature
– Provide a framework for group behaviour
– Model the context for re-planning decisions
– Model agents’ responsibilities to their group and the operator
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Joint Intentions Theory
A logic based model of what it means to co-operate on a task
– Explicitly represents roles and commitments
– Improves robustness
Key elements
– Mutual belief (I know he knows I know …..)
– Mutual goals and plans
– Commitment to informing other agents
Example:- Traffic convoys
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Definitions
Weak GoalEITHER Goal to achieve POR P has been achieved AND Goal to inform group P is
achievedOR P is unachievable AND Goal to inform group P unachievable
Weak Mutual GoalMutual belief that everyone has a Weak Goal to achieve P
Joint Persistent GoalMutual belief that P has not yet been achieved ANDMutual goal to achieve P ANDUNTIL Mutual belief that P is achieved, unachievable or irrelevant
A Weak Mutual Goal to achieve P will persist
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Definitions 2
Joint IntentionTo have a Joint Persistent Goal to do an action while mutually
believing that all involved are doing the action
– A ‘Group State’ committing all involved both to the goal, a to a way of achieving it and conventions on how to deal with problems
Key elements
– Establishing mutual belief in an action
– Commitment to informing others
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Using Joint Intentions
Attack Helicopter CGF (Tambe et al in STOW)
– Preventing teamwork failures, e.g. loss of Scout Helicopter
Co-ordinating independently designed behaviours– generic support for composite actions
Further Issues– Need to establish approximation to mutual belief
– Ways of establishing team goals, e.g. roles and capabilities
– Building up and representing shared goals and plans
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Four Step Model
Recognition
Team Formation
– Identifying a group capable of performing the task
Plan Formation
– Forming and agreeing on the steps to take. Identifying co-ordination
Team Action
– Forming individual, co-ordinated, plans and failure recovery
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Example Composite Behaviour Tank Squadron Assault Involves:
– Finding a Fire Support Position to Pin down the Enemy
– Finding a Concealed Approach for the Assault Group
EnemyPosition
Fire SupportPosition
Fire Support
Axis
Assault Approach
Assault GroupForm Up Point
Cover Break Point
Fire SupportForm Up Point
Squadron Current Position
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Example Implementation
Explicit Group plans
– Templated plans with roles
– Clear co-ordination statements
Shared Group state
– Used for co-ordination and recovery if commander dies
Individual plans derived from group template
– Assigned based on roles and capabilities
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A Composite Assault Behaviour
Overallgroup
Assaultsub-group
Supportsub-group
Form Up Wait forsupport
Assault Re-group
End Assault
EndAssault
Form Up
Wait
Supportby Fire
FightThrough
Re-group
Form Up Assault
No task
Time
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Summary
Co-ordination and co-operation is an important aspect of CGF systems
Without good representations co-ordination becomes hidden and prone to failures
Composite, composable behaviours will need reliable, generic co-ordination and co-operation techniques
Formal techniques from Multi Agent Systems research can help
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Further Work
Adjusting the theory to align with military practice
General solutions to execution problems
– e.g. role replacement
Operator involvement
– visualisation of co-ordination
– commitments to the operator by CGF agents