Maple-Swarm: programming collective behavior for ensembles by extending HTN-planning

  • Programming goal-oriented behavior in collective adaptive systems is complex, requires high effort, and is failure-prone. If the system's user wants to deploy it in a real-world environment, hurdles get even higher: Programs urgently require to be situation-aware. With our framework Maple, we previously presented an approach for easing the act of programming such systems on the level of particular robot capabilities. In this paper, we extend our approach for ensemble programming with the possibility to address virtual swarm capabilities encapsulating collective behavior to whole groups of agents. By using the respective concepts in an extended version of hierarchical task networks and by adapting our self-organization mechanisms for executing plans resulting thereof, we can achieve that all agents, any agent, any other set of agents, or a swarm of agents execute (swarm) capabilities. Moreover, we extend the possibilities of expressing situation awareness during planning by introducingProgramming goal-oriented behavior in collective adaptive systems is complex, requires high effort, and is failure-prone. If the system's user wants to deploy it in a real-world environment, hurdles get even higher: Programs urgently require to be situation-aware. With our framework Maple, we previously presented an approach for easing the act of programming such systems on the level of particular robot capabilities. In this paper, we extend our approach for ensemble programming with the possibility to address virtual swarm capabilities encapsulating collective behavior to whole groups of agents. By using the respective concepts in an extended version of hierarchical task networks and by adapting our self-organization mechanisms for executing plans resulting thereof, we can achieve that all agents, any agent, any other set of agents, or a swarm of agents execute (swarm) capabilities. Moreover, we extend the possibilities of expressing situation awareness during planning by introducing planning variables that can get modified at design-time or run-time as needed. We illustrate the possibilities with examples each. Further, we provide a graphical front-end offering the possibility to generate mission-specific problem domain descriptions for ensembles including a lightweight simulation for validating plans.show moreshow less

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Metadaten
Author:Oliver KosakORCiDGND, Lukas Huhn, Felix Bohn, Constantin WanningerGND, Alwin HoffmannORCiDGND, Wolfgang ReifORCiDGND
Frontdoor URLhttps://opus.bibliothek.uni-augsburg.de/opus4/79104
Parent Title (English):9th International Symposium on Leveraging Applications of Formal Methods, Verification and Validation
Publisher:Springer
Place of publication:Heidelberg
Type:Part of a Book
Language:English
Year of first Publication:2020
Release Date:2020/09/03
Tag:Task Orchestration; HTN-Planning; Swarm Behavior; Robot Swarms; Multi-Agent Systems
Institutes:Fakultät für Angewandte Informatik
Fakultät für Angewandte Informatik / Institut für Informatik
Fakultät für Angewandte Informatik / Institut für Software & Systems Engineering
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik / Lehrstuhl für Softwaretechnik
Latest Publications (not yet published in print):Latest Publications (not yet published in print)