Conceptual Map and Classification In Ensembles Of Autonomic Components: From Awareness to...
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Transcript of Conceptual Map and Classification In Ensembles Of Autonomic Components: From Awareness to...
CONCEPTUAL MAP AND CLASSIFICATION
IN ENSEMBLES OF
AUTONOMIC COMPONENTS: FROM
AWARENESS TO
ORGANIZATION
Nicola Capodieci and Giacomo Cabri
University of Modena and Reggio Emilia
CONTENTS
Background
Motivation
Trees of concepts
Ensemble as whole
Single components features
Communication
Adaptation
Awareness
Conclusions and future work
BACKGROUND
Ensembles of autonomic components have to
Be independent
Have little or no human interaction
Be reliable
Be adaptive
Self-organize
Self-express
Self-aware (*-awareness)
….
FOCUS ON:
DARS and
self-expression
MOTIVATIONS
Classification as an instrument for:
Design process
Enhancing reutilization of code, projects etc…
Older classification of autonomic components
Sometimes outdated
No focus on adaptive capabilities, awareness
Building a general framework for self-expression
CLASSIFYING COORDINATION PATTERNS
Previous focus on:
the ensemble as a whole
Hardware capabilities of the single robot
Current trend on:
What makes a single component adaptive?
New approaches for ensemble coordination
*-Aware components
Our approach:
Try to consider, integrate and discuss all the previous
topics.
THE TREE(S) OF CONCEPTS
Two seeds:
Single component
Communication
Internal architecture
Awareness capabilities
Ensemble as a whole
Organization
Global architecture
Team features
ENSEMBLE AS A WHOLE 1/3
Organization
Structured Unstructured
Leader Peers
Role Based
Swarm
Architecture
ENSEMBLE AS A WHOLE 2/3
Deliberative Reactive (!)
Team Features
ENSEMBLE AS A WHOLE 3/3
Composition Size
Homogeneous Large Heterogeneous
Small
SINGLE COMPONENT TREE
Communication:
Direct:
Well defined protocols
Data transmission
Communication can be used for raising awareness.
Direct communication are characterized by
Bandwidth and Range.
LESS DIRECT WAYS FOR COMMUNICATING
Stigmergic approach:
Computational Fields
Virtual Pheromones
…
Sensing approach:
“Sensing” changes in the environment
Giving them different meanings according to the state in
which the unit is located
COMMUNICATION AND AWARENESS Communication is used for raising awareness of:
Events
Presence of team mates
And managing COORDINATION
What about non-communicative coordination?
Strictly related to Awareness
Social rules, conventions, common pre-shared
knowledge
See: Common Expected Payoff in [1]
[1] J.R. Kok, M.T.J. Spaan and N. Vlassis Non-communicative multi-robot
coordination in dynamic environments, in Robotics and autonomous
System, Multi-Robots in dynamic Environments, Vol. 50, Issues 2-3, 28
Feb. 2005, p. 99 - 114
CONVENTIONS, SOCIAL RULES … AWARENESS
“Imagine that you and a friend need to meet today.
You both arrived in Paris yesterday but you were
unable to get in touch to set a time and place.
Nevertheless, it is essential that you meet today.
Where will you go, and when?”
Vohra 1995 AAAI
Symposium on active learning
INTERNAL ARCHITECTURE 1/2
[2] G. Cabri, M. Puviani, and F. Zambonelli. Towards a taxonomy of adaptive
agent-based collaboration patterns for autonomic service ensembles.
2011 Collaborative Technologies and Systems, Philadelphia (USA), May 2011.
INTERNAL ARCHITECTURE 2/2 Connection with cognitive heuristics self-aware [3]
agents:
Feedback
Reasoning
Learning
Planning
Goal driven
…
[3] A. Guazzini A Cognitive Heuristic model for Local Community
Recognition Lecture at AWASS 2012, June 2012 Edinburgh, Scotland,
U.K
THE CHALLENGE OF DEFINING AWARENESS
Many previous works and classification
Many fields/case studies
Many open issues:
Evaluating
Assessing
Definition
…
LOT OF CONFUSION!
SOME EXAMPLES IN PHILOSOPHY AND ART
R. Descartes: “Cogito ergo
Sum”
V. Van Gogh
“People say - and I’m quite willing to believe it -
that it’s difficult to know oneself ...”
… AND NEUROSCIENCE
Picture taken from: http://hellbox.org/squeezebox/archives/cat_sketchbook.html
Assessing visual
Self-awareness
Assess fake-beliefs
awareness
Picture taken from
http://www.asperger-advice.com/sally-and-anne.html
PUTTING ALL TOGETHER
From many definitions and tests for
defining\evaluate awareness:
Extract what is relevant for autonomic components
Making clear distinctions when needed
Context and perception are critical when trying to
classify the degree of awareness.
The link between the three module internal architecture and the five degrees of
Self-consciuosness by Neisser et. Al[4]
[4]U. Neisser The roots of self-knowledge: Perceiving self, it, and thou in
Annals of the NY AoS., vol. 818, pp. 1933, 1997.
AWARENESS CAPABILITIES
WHAT CAN WE DO WITH THIS
CLASSIFICATION?
Find the concept of distances in patterns:
Every ensemble organization may require different
features of the trees.
A requirement may be internal or external, strong or
weak.
EXAMPLE
A Master-Slave configuration requires:
Direct communication
Be aware of other team mates
A proactive internal architecture
Heterogeneous composition
…
A Swarm configuration requires:
Stigmergy
Be aware of the environment and events
A reactive internal architecture
Homogeneous composition
…
CONCLUSION AND FUTURE WORK
Provide a conceptual map for Multi robot systems
Adaptation
Awareness
Software and Hardware features
Study how to express the concept of distances in
patterns:
Estimate the effort for dynamically change a
coordination pattern
More formal definitions
Implementing test scenarios
Model checking
THANK YOU
The work is partially supported by:
(EU FP7-FET, Contract No. 257414) www.ascens-ist.eu
(nicola.capodieci, giacomo.cabri)@unimore.it
http://agentgroup.unimo.it/