Agent

O. BOISSIER (SMA/ENSM.
SE)
Cours SMA-DEA-CCSA - 2001
1 1
MuIti-Agent Systems MuIti-Agent Systems
Agents' Architectures Agents' Architectures
OIivier 8oissier
OIivier.8oissieremse.fr
SMA/SIMMO
EMS Mines Soinf-Efienne
I8 Ocfobre Z00I
O. BOISSIER (SMA/ENSM.SE)
2 2
OutIine OutIine
vDefinitions
t AnoIysis grid
t Aufonomous Agenfs
t Communicofive Agenfs
t SocioI Agenfs
t Agenfs Archifecfure
3 3
A reoI or virfuoI enfify fhof evoIves in on
environment fhof is obIe fo perceive fhis
environmenf fo uct on fhis environmenf fo interuct
wifh ofher ogenfs ond fhof ehibits on uutonomous
behoviour. [Demo;eou 9o]
An infeIIigenf Agenf is o compufer sysfem copobIe of
fIeibIe ond uutonomous uction in some environment.
FIexibIe meons reuctive pro-uctive sociuI.
[WooIdridge 98]
Agent : Agent : eternuI definition eternuI definition {1} {1}
4 4
Agent : Agent : eternuI definition eternuI definition {Z} {Z}
Reuctivity A reocfive sysfem is one fhof moinfoins
on ongoing inferocfion wifh ifs environmenf ond
responds fo chonges fhof occur in if (in fime).
Prouctiveness A proocfive sysfem is one fhof
generofes ond offempfs fo ochieve gooIs, nof driven
soIeIy by evenfs, foking fhe inifiofive.
SociuI AbiIity A socioI sysfem is one fhof is copobIe
of inferocfing wifh ofher ogenfs ond perhops fo
cooperofe wifh ofhers.
5 5
Agent : internuI definition Agent : internuI definition
t A reoI or virfuoI enfify fhof encompusses some IocuI
controI in some of ifs percepfion communicofion
knowIedge ocquisifion reosoning decision execufion
ocfion processes [Demo;eou 0I]
t Our definition o reoI or virfuoI enfify fhof is
equipped in differenf degrees wifh some copobiIifies
to sense or to uct on the environment to
communicute with the other ugents to munuge
reIutions with the others. This entity is cupubIe of
eerting IocuI controI on them.
6 6
Agent vs, Obgect Agent vs, Obgect
t An ogenf Iike on objecf encopsuIofes o sfofe
(offribufes) ond o behoviour (mefhods)
t UT
l on ogenf confroIs ifs behoviour i.e. decides whof
fo do from whof if receives or senses (on objecf
confroIs onIy ifs sfofe (occess mefhods)) ,
vin o MAS fhere ore severoI fIows of confroI os in
concurrenf objecfs UT severoI fypes of confroI
ore possibIe (reocfive deIiberofive socioI ,)
7 7
ModeI ModeI Theory Theory Architecture Architecture
t Agent's ModeI obsfrocf descripfion of on
ogenf using behoviour ond sfrucfure
vocobuIory.
t Agent's Architecture soffwore or hordwore
orchifecfure fhof monoges fhe resources
under fhe confroI of fhe ogenf.
t Agent's Theory Ionguoge fo specify verify
properfies of on Agenfs modeI (offen IogicoI
grounds)
8 8
OutIine OutIine
XDefinifions
vAnuIysis grid
t Aufonomous Agenfs
t SocioI Agenfs
9 9
Reuctive Reuctive Agents [ Agents [Demuzeuu Demuzeuu 9j 9j
4 Aufo-orgoni;ofion
Orgunized Agents
Reproductive Agents
Cooperutive Agents
Coordinuted Actions
StimuIus/Response
4 Replication mechanisms
4 Grouping mechanisms
4 Finite State Nachines
Situated rules
4 Inhibitionfactivation
architectures subsumption
10 10
DeIiberutive DeIiberutive Agents [ Agents [Demuzeuu Demuzeuu 9j 9j
Orgunized Agents
Megotiuting Agents
IntentionnuI Agents
Communicution
ModuIes
Processus/Actors
Cooperutive Agents
4 Communicofion primifives
4 Communicofion profocoIs
4 MufuoI represenfofions fosks
oIIocofions
4 Infenfions commifmenfs porfioI
pIons
4 Megofiofed confIicf resoIufion
4 MuIfipIe perspecfives socioI Iows
11 11
Other terms und cIussificutions , Other terms und cIussificutions ,
t Aufonomous Pobofs
t PersonnoI Assisfonfs Deskfop ogenfs
t Soffbofs Knowbofs
t MobiIe Agenfs
t 8eIievobIe Agenfs
t Peocfive Agenfs Cognifive Agenfs ,
t InfeIIigenf Agenfs Cooperofive Agenfs ,
t ,
12 12
MuIti MuIti-Agent -Agent Systems Systems
actors
Intranet/
Extranet
D
C
A
A new point of view : Agents
(methods+data)+autonomy+cooperation
B
15h-
17h
17h-
18h
Establish a contract for
printing 10 in B&W
20 in color at the best
price.
13 13
ModeI : ModeI : A Agent gent
Sources : Articifial Intelligence, Objects, Robotic, ...
A
Beliefs
Goals
Intentions
Knowlege
Reasoning
Knowledge
Beliefs, Desires, Intentions
Reasoning mechanisms, planning, learning, .
14 14
ModeI : ModeI : O Orgunizution rgunizution
t Sources socioIogy socioI psychoIogy CSCW
Social laws
Organizational Structures, Contracts
Dependence Networks
A
O
Beliefs
Goals
Intentions
Knowledge
Reasoning
Organization
A
D
B
C
A
B
C
D
15 15
ModeI : ModeI : I Interuction nteruction
t Sources Speech Acfs Conversofions
Interaction Languages
Conversations
Protocols
A
O
I
Order 20 Color
Propose 10 B&W
Croyances
Buts
Intentions
Connaissances
Raisonnement
Organisation
I
n
t
e
r
a
c
t
i
o
n
Conv. with C
Conv. with D
16 16
ModeI : ModeI : E Environment nvironment
t Sources SimuIofion Physics SIS ,
A
O
I
E
t Dynumic of the environment in cuse of simuIutions
t Action Perception
Croyances
Buts
Intentions
Connaissances
Raisonnement
Perception
Action
Organisation
I
n
t
e
r
a
c
t
i
o
n
17 17
MAS { MAS {A A E E I I O O} [ } [Demuzeuu Demuzeuuj j
Agent
EIements for defining the processing entities
{InternuI urchitectures knowIedge Rep, ,}
t 4 dimensions to unuIyze und design u MAS {VoweIs upprouch} :
Environment
EIements for structuring inteructions with
the common eternuI entities {Perception
Action Dynumic of the environment ,}
Interuction
EIements for structuring inteructions between
entities {Agent Communicution Lunguuges
Interuction ProtocoIs ,}
Orgunizution
EIements for structuring sets of entities
{OrgunizutionuI Structures Dependence
ReIutions Dynumics of Orgunizution ,}
18 18
Agent : Agent : functionuI view functionuI view u u e e i i o o
Rep, & Mngt of Org, Struct
Rep, & Mngt of Dep, ReIutions
Orgunizutions dynumics
o
Perception of the environment
Action on the environment
e
ACL interpretution
Interuction ProtocoIs Mngt
Mngt of Conversutions
i
Reusoning Methods
knowIedge
Representution
a
v Focef moduIe
ControI :
How to coordinute the fucets ?
Whut ure the reIutions between them ?
Agent
19 19
Agent : Agent : functionuI view functionuI view u u e e i i o o
t Autonomous Agent
A
oe
Enfify fhof is copobIe fo perceive
fhe environmenf ond fo ocf on if.
A
e
a
A
a
e
i
Communicative Agent : <
A
,a,e,i>
Autonomous agent that is capable to communicate with other agents.
A
a
e
i
o
Social Agent : <
A
,a,e,i,o>
Communicative agent that is capable of managing relations with other
agents.
20 20
Agent : Agent : decision view decision view
t Sfrengfh of fhe coupIing fo fhe environmenf
(oIso fo fhe ofher ogenfs)
objecfives
dofo
>Peocfive
21 21
Reuctive Agent's Reuctive Agent's modeI modeI
t The process cycIe of on ogenf is o cIosed Ioop befween "execufe"
ond "see" (SfimuIus/Pesponse)
4 reocfion fo fhe evoIufion of fhe environmenf
t Mo expIicif represenfofion of fhe environmenf of fhe ofher
ogenfs of ifs skiIIs ,
t Decisions ore done wifhouf reference fo fhe posf (no hisfory) fo
fhe fufur (no pIonning)
see eecute
Environnemenf
Agenf
22 22
Reuctive ugent's Reuctive ugent's modeI {Z} modeI {Z}
t Peocfive opprooch orises in opposifion fo fhe
symboIic reosoning modeI (AI).
t SeveroI opprooches fhof ore bosed on
l behuviours
+ [8rooks 8o] [SfeeIs 89] (robofic)
+ [DrogouI 93] (efhoIogy)
l inteructions
+ [Demo;eou 93] (imoge onoIysis corfogrophy ,)
+ [8uro 9I] (gomes)
l situutions
+ [Agre 87] (gomes)
+ [Wovish 90] (design monufocfuring)
23 23
Reuctive ugent's Reuctive ugent's modeI {3} modeI {3}
EumpIe of confroI cycIe of o reocfive ogenf (impIemenfed os
o sef of condifion/ocfion ruIes)
conc/!/on-uc!/on tu/cs
sc! o/ pctccp!s
do {
pctccp!s see(),
s1c1e := interpret_input{percep1s};
tu/c mofch(s!u!c,tu/cs),
execufe(tu/cuc!/on),
} whiIe {1};
24 24
objecfives
dofo
>Peocfive
objecfives
dofo
>DeIiberofive
25 25
DeIiberutive ugent's DeIiberutive ugent's modeI modeI
t The process cycIe of on ogenf infroduces o "deIiberofe"
funcfion befween "see" ond "execufe" in order fo choose fhe
"righf" ocfion
t ExpIicif Pepresenfofion of fhe environmenf of fhe ofher
ogenfs of ifs skiIIs ,
t Hisfory monogemenf ...
see eecute
Environnemenf
Agenf
deIiberute
stute
26 26
DeIiberutive ugent's DeIiberutive ugent's modeI {Z} modeI {Z}
t EumpIe of confroI cycIe of o deIiberofive ogenf
s sfofe
c evenf queue
s inifioIi;e(),
do {
op!/ons opfion_generofor(cs),
sc/cc!cc deIiberofe(op!/ons s),
s := updute_stute{seIec1eos};
execufe(s),
c see(),
} whiIe{1};
27 27
t Source procficoI reosoning (process of deciding
momenf by momenf which ocfion fo perform in fhe
furfheronce of gooIs wnc1 gooIs fo ochieve now fo
ochieve if).
t Agenf hos
l o sef of currenf beIiefs (informofion fhe ogenf hos obouf ifs
currenf environmenf)
l o sef of currenf desires (possibIe course of ocfions ovoiIobIe
fo fhe ogenf)
l o sef of currenf intentions (fhe ogenfs currenf focus)
DeIiberutive ugent's DeIiberutive ugent's modeI {3} modeI {3}
28 28
t ExompIe of o confroI cycIe of o 8DI ogenf
l D beIiefs g desires / infenfions c evenf queue
D,g,/} inifioIi;e(),
repeut
op!/ons opfion_generofor(cD,g,/),
sc/cc!cc deIiberofe(op!/ons D,g,/),
/ sc/cc!cc /,
execufe(/),
c see(),
D updofe_beIiefs(Dc),
(g/) drop_successfuI_offifudes(Dg/),
(g/) drop_impossibIe_offifudes(Dg/),
forever
DeIiberutive ugent's DeIiberutive ugent's modeI {4} modeI {4}
29 29
vFuncfionoI ond Decision views ore orfhogonoI
objecfives
dofo
>Peocfive
objecfives
dofo
>Hybride
objecfives
dofo
>DeIiberofive
30 30
OutIine OutIine
XDefinifions
XAnoIysis grid
vAutonomous Agents -
A
ue>
A
oei
t SocioI Agenfs
A
oeio
A
e
a
31 31
Autonomous Agents Autonomous Agents - -
A A
u u e e> >
A
e
a
Peocfive DeIiberofive Hybride
[wovish 90] Sifuofed ruIes [Seorgeff 83] PPS-dMAPS
(8DI)
[Ferguson 94] Touring
Mochine
[8rooks 8o] Subsumpfion
orchifecfure
[SfeeIs 89] "Cooperofive"
Subsumpfion orchifecfure
[DrogouI 93] MAMTA
32 32
Subsumption urchitecture Subsumption urchitecture
[rooks j [rooks j
v Agenfs decision moking is reoIised fhrough o sef of
fosks occompIishing behoviours.
A behoviour confinuoIIy fokes percepfuoI inpufs ond
mops if fo on ocfion fo perform (finife sfofe
mochines no symboIic reosoning no symboIic
represenfofion)
v Mony behoviours con fire simuIfoneousIy. In order fo
choose befween fhem use of o subsumpfion
hierorchy wifh fhe behoviours orronged info Ioyers.
A high Ioyer hos priorify on Iower Ioyers (inhibifion)
33 33
Subsumption urchitecture {Z} Subsumption urchitecture {Z}
ehuviour Z
ehuviour 1
ehuviour 0
Acfuofors
sensors
Eoch Ioyer con be incremenfoIIy odded
fo fhe exisfing orchifecfure.
Eoch Ioyer is o sef of moduIes (FSM) which sends messoges fo eoch ofher
wifhouf cenfroI confroI.
Inpufs fo moduIes con be suppressed ond Oufpufs con be inhibifed by wires
ferminofing from ofher moduIes for o defermined fime. (subsumpfion)
i
3
s
10
34 34
t t Problem : robots have to collect
samples of precious rock (location of
the rock samples is not known in
advance) and bring it back to a
mothership spacecraft.
t t Cooperation without direct
communication : indirect
communication through the
environment.
4 Gradient field with a signal
generated by the mothership
4 radioactive crumbs that can be
picked up, dropped and detected by
passing robots.
EumpIe EumpIe : : Distributed Distributed Robots Robots
[ [SteeIs SteeIs 9j 9j
35 35
EumpIe : Distributed Robots {Z} EumpIe : Distributed Robots {Z}
t Two sefs of behoviours running in poroIIeI
l HondIing behoviour
+If I sense o sompIe ond om nof corrying one I pick if up.
+If I sense fhe vehicIe-pIofform ond om corrying o sompIe
I drop if.
+If I corry o sompIe I drop Z crumbs.
+If I corry no sompIe ond crumbs ore defecfed I pick up
one crumb.
l Movemenf behoviours orgoni;ed oIong o
subsumpfion hierorchy
36 36
EumpIe EumpIe : : Distributed Distributed Robots {3} Robots {3}
obstacle avoidance
path attraction
exploration movement
return movement
random movement
If I um in return mode I choose
the direction of highest grudient,
If I um in epIorution mode I
choose the direction of Iowest
grudient,
If I sense un obstucIe in front I
muke u rundom turn,
Choose rundomIy u direction to
move, Move in thut direction,
If I um not currying u sumpIe und
I sense crumbs I move towurds
the highest concentrution of
crumbs,
37 37
EumpIe : Distributed Robots {4} EumpIe : Distributed Robots {4}
t Mode deferminofion befween ExpIorofion ond
Pefurn
l If I om in expIorofion mode ond I sense no Iower
concenfrofion fhon fhe concenfrofion in fhe ceII on
which I om Iocofed I puf myseIf in refurn mode.
l If I om in refurn mode ond I om of fhe vehicIe
pIofform I puf myseIf in expIorofion mode.
l If I om hoIding o sompIe I om in refurn mode.
38 38
Agent ructif : Agent ructif :
MAMTA [ MAMTA [DrogouI DrogouI 93j 93j
t Domoine doppIicofion simuIofion de socifs
de fourmis ofin dfudier Imergence dune
rporfifion de frovoiI ou sein de Io socif
t Choque fourmi o un ensembIe de fches
t Tche
l squence docfions primifives
l poids
l niveou docfivofion.
39 39
MAMTA : urchitecture MAMTA : urchitecture
Choix
Tche courante
Stimuli
Primitive
Renforcement
Tche 1
Tche 2
Tche 3
Tche 4
Niveau d'activite d'une tache
Ai(t) = (Wi(t)fW](t))vi(x)
Wi(t+1) = Wi(t)
Wi(t+1) = Wi(t) + delta
vi(t)
40 40
PRS [ PRS [Seorgeff Seorgeff 3j 3j
t 8DI dofes bock fo [8rofmon 88] (IPMA)
t PPS (ProceduroI Peosoning Sysfem (Seorgeff
ond Lonsky I987)) uses ond supporfs 8DI
t OperofionoI sysfem dMAPS
t 8DI-Logics (Poo ond Seorgeff I99I, Poo ond
Seorgeff I99b, Poo I99b).
t AppIicofions Spoce ShuffIe (Diognosis)
Sydney Airporf (oir froffic confroI).
t http://www,csc,Iiv,uc,uk/~mgw/pubs/ruru/resources,htmI
41 41
Environment Environment
Agent Agent
System System
Interfaces Interfaces
Data Data
Input Input
Data Data
Output Output
Sensors Sensors
Effectors Effectors
Command Command
Generator Generator
Monitor Monitor
PRS {1} PRS {1}
Data Base
{Beliefs)
KAS
{Plans)
Interpreter
{Reasonner)
Goals
{Desires)
PQueue
{Intentions)
42 42
t The pIon-recipes Iibrory (KAS) buiIds fhe
proceduroI knowIedge fo sofisfy fhe
infenfions.
t A pIon-recipe (KA) is defined by
l o body
l friggering condifion fo ocfivofe o pIon (4 Desire)
l o pre-condifion (feosobiIify)
PRS {Z} PRS {Z}
43 43
PRS {3} PRS {3}
44 44
t Consfroined novigofion in dynomic
environmenfs (popuIofed wifh ofher ogenfs
for exompIe)
t Consisfs of fhree ocfivify producing Ioyers
eoch Ioyer produces suggesfions for whof
ocfions fhe ogenf shouId perform.
Touring Touring Muchine [ Muchine [Ferguson Ferguson 94j 94j
45 45
t Reuctive Iuyer : reocfive behoviour
RuIe 1: Xvo/c cutD
l if /s_/n_/ton!(cutD; oDsctvct) ond
spccc(oDsctvct) > 0 ond
scpctu!/on(cutD; oDsctvct) < cutD !ntcsno/c
fhen cnungc ot/cn!u!/on(cutD uvo/cuncc ung/c)
t PIunning-Luyer: Pro-ocfive behoviour
t ModeIing Luyer: updofing of fhe worId beIiefs predicfs
confIicfs befween ogenfs chonges pIonning-gooIs
t ControI-subsystem: Decides obouf who is ocfive. Cerfoin
observofions shouId never reoch cerfoin Ioyers.
Touring Touring Muchine {Z} Muchine {Z}
46 46
reaction
a
c
t
i
o
n
p
e
r
c
e
p
t
i
o
n
control
situation-action
rules
selection
plannning
Focus
of attention
Planning
modeling
Focus
of attention
Explanation Prediction
Touring Touring Muchine {3} Muchine {3}
Reuctive behuviour
Pro-uctive behuviour
ModeIing of the other
47 47
OutIine OutIine
XDefinifions
XAnoIysis grid
XAufonomous Agenfs
A
oe
vCommunicutive Agents -
A
uei>
t SocioI Agenfs
A
oeio
A
a
e
i
48 48
Communicutive Agents Communicutive Agents
- -
A A
u u e e i i> >
[ferrond 97] SMAALA [Shohom 93] AOP [MuIIer 9b] InfePPoP
[Demo;eou 9I] PACO [8urmeisfer 93] COSY
[Sfeiner 93] IMASIME
[Wiffig 9Z] APCHOM
A
a
e
i
49 49
SMAALA [Ferrund 97j SMAALA [Ferrund 97j
t 8osed on fhe Coordinofion Pofferns ModeI
(PACO) [Demo;eou 93]
t Used for soIving spofioI probIems (ex
Decision Aid in Counfry pIonning)
50 50
i
i-2
i-1
i+1
i+2
SMAALA
Ferrand 97
SMAALA : eumpIe SMAALA : eumpIe
Agenf i
p
i
(x
i
y
i
)
cc
i
{o
i-Z
o
i-I
o
i+I
o
i+Z
}
51 51
Environement
Population Population
Agent Agent
Other Other agents agents
State X(t): State X(t):
(p(t),A(t)) (p(t),A(t))
Mup
Index of Index of the the
environment environment
VuIues VuIues
Attributes Attributes of of the the
SMAALA (2)
52 52
Environment
Mup VuIues
(p(t),A(t)) (p(t),A(t))
Agent Agent
x x
X X
cp cp
Percep1Ion /IeIo
PerceIveo posI1Ions
cno In/Iuence
Finite Finite State Machine State Machine
fp fp
Perception Perception Filter Filter : :
perceived regions selection perceived regions selection
fr fr
relational Filter relational Filter : :
accointances accointances selection selection
Effect Effect of of the the
fa fa
Ee Ee
Ei Ei
Effect Effect of of the the
other other agents agents
Parallel Parallel
updating updating
X
cc
CommunIcc1Ion
FIeIo
Xnown Zgen1s
cno In/Iuence
SMAALA (3)
53 53
Agent i
p
i
={
i
y
i
}
cc
i
={u
i-Z
u
i-1
u
i+1
u
i+Z
}
rp
i
=Z0
Perception
FieId
SMAALA : eumpIe {Z} SMAALA : eumpIe {Z}
54 54
EternuI fiItering EternuI fiItering
Sensibility Map Perception Field
Used
Information
X =
55 55
EternuI Integrution EternuI Integrution
AvoiIobIe
Informofion
0 9 7 4
7
7
7 4
3
2
0
0
0
0
0
0
8
5
3
0
2
2
0
0
0
2
3
3
2
6
5
4
3
2
4
Perceived
Effecf
30 %
70 %
weighfing
8
5
3
0
2
2
0
0
0
2
3
3
2
6
5
4
3
2
4
PesuIf
0
2
4
6
8
10
12
-4 -3 -2 -1 0 1 2 3 4
Percepfion
FiIfer
56 56
Non Adaptative, Non Adaptative, Reactive Reactive Agent Agent
Map Map Values Values
(p(t),A(t)) (p(t),A(t))
Agent Agent
x x
fp fp
fr fr
X X
cp cp
X X
cc cc
fa fa
Ee Ee
Ei Ei
Selection Selection in in the the
neighbourhood neighbourhood of of
the the agent agent
SMAALA (4)
57 57
x x
Mp Mp
Mr Mr
Adaptative Adaptative Reactive Reactive Agent Agent
Map Map Values Values
(p(t),A(t)) (p(t),A(t))
Agent Agent
x x
fp fp
fr fr
X X
cp cp
X X
cc cc
fa fa
Ee Ee
Ei Ei
Dynamic Dynamic Adaptation Adaptation
of of the the filters filters
SMAALA (5)
58 58
AOP [ AOP [Shohum Shohum 93j 93j
t AOP Agenf Orienfed Progromming
t Three moin componenfs
l o formoI Ionguoge wifh o synfox ond o semonfic fo describe
menfoI sfofes
l on inferprefed progromming Ionguoge fo progrom ogenfs
l ogenfificofion process fo converf nofive oppIicofions
4 Agent on enfify whose sfofe is viewed os consisfing of
menfoI componenfs such os beIiefs copobiIifies
choices ond commifmenfs (,) Whof mokes ony
hordwore or soffwore componenf on ogenf is preciseIy
fhe focf fhof one hos chosen fo onoIyse ond confroI if
in fhese menfoI ferms. [Shohom 93]
59 59
t Agenf specified in ferms of
l o sef of copobiIifies (fhings if con do)
l o sef of inifioI beIiefs
l o sef of inifioI commifmenfs (Iike infenfions in 8DI )
l o sef of commifmenf ruIes
t Key componenf which defermines how fhe ogenf
ocfs is fhe sef of commifmenf ruIes. Eoch ruIe
confoins
l o messoge condifion
l o menfoI condifion
l on ocfion
AOP : Agent0 {1} AOP : Agent0 {1}
60 60
t If fhe messoge condifion mofches o messoge fhe
ogenf hos received ond fhe menfoI condifion mofches
fhe beIiefs of fhe ogenf fhe ruIe fires.
t When o ruIe fires fhe ogenf becomes commiffed fo
fhe ocfion.
t Eoch ocfion is eifher
l privofe on infernoI subroufine or
l communicofive o messoge senf fo ofher ogenfs
AOP : Agent0 {Z} AOP : Agent0 {Z}
61 61
t Messoges ore consfroined fo be one of fhree fypes
l requesf perform on ocfion
l unrequesf refroin from performing on ocfion
l inform poss on informofion
t Pequesf ond unrequesf messoges fypicoIIy resuIf in
modificofion of ogenfs commifmenfs.
t Inform messoges resuIf in o chonge fo fhe ogenfs
beIiefs.
t The operofion of on ogenf is simpIy (I) reod oII currenf
messoges updofe beIiefs ond commifmenfs (Z) execufe
oII commifmenfs where copobIe of ocfion (3) gofo I
62 62
Initialize
Belief Update
Commitments
Update
Execution
Beliefs
Commitments
Abilities
Messages
Messages
63 63
t ExompIe
COMMIT( (ogenf PEQUEST DO(fime ocfion))
(8 [now Friend ogenf] AMD
CAM(seIf ocfion) AMD
MOT [fime CMT(seIf onyocfion)]
)
seIf DO(fime ocfion))
i.e. if I receive o messoge from on ogenf requesfing me fo do ocfion
of fime ond I beIieve fhof fhe ogenf is currenfIy o friend ond I con do
fhe ocfion ond of fime I om nof commiffed fo doing ony ofher ocfion
fhen commif fo doing ocfion of fime.
AOP : Agent0 {} AOP : Agent0 {}
64 64
InteRRup InteRRup [MuIIer 9j [MuIIer 9j
t Objecfive fo provide on ogenfs
orchifecfure for compIex dynomics
probIems (scheduIing robofics ,)
t 8osed on fhe 8DI ModeI
t SeveroI evoIufions ond rewrifing
65 65
InteRRuP InteRRuP {Z} {Z}
SociuI ModeI
MeI JSouIs JInt
MentuI ModeI
eI SouIs Intentions
WorId ModeI
eIiefs
ControI Unit
knowIedge use
WorId
Interfuce
S, S, P, S,
Cooperutive
PIunning Luyer
LocuI PIunning
Luyer
ehuviour
used Luyer
S, S, P, S,
S, S, P, S,
Sensors Communicution Effectors
66 66
InteRRuP InteRRuP {3} {3}
88L LPL CPL
8eIief Pevision
Senerofion ond
revision of
beIiefs
(worId modeI)
Absfrocfion of IocoI
beIiefs (menfoI
modeI)
Moinfoining modeIs
of ofher ogenfs
(socioI modeI)
Sifuofion
recognifion
SooI ocfivofion
Acfivofion of
reocfor pofferns
Pecognifion of
sifuofions requiring
IocoI pIonning
Pecognifion of
sifuofions requiring
cooperofive pIonning
PIonning
ScheduIing
Peocfor PO8
direcf Iink from
sifuofions fo
ocfion sequences
Modifying IocoI
infenfions, IocoI
pIonning
Modifying joinf
infenfions ,
cooperofive
pIonning.
67 67
InteRRuP InteRRuP {4} {4}
S
i
t
u
u
t
i
o
n
r
e
c
o
g
n
i
t
i
o
n
S
o
u
I
u
c
t
i
v
u
t
i
o
n
SIT {SITSOAL}
O
P
s
e
I
e
c
t
i
o
n
OPs
S
c
h
e
d
u
I
i
n
g
COMMIT
E
e
c
u
t
i
o
n
k
SS
i
SS
i+1
PS
i+1
COMMIT
PS
i
COMMIT
{SITSOAL}
PS
i-1
SS
i-1
{SITSOAL}
Informofion fIow Moin confroI fIow
AddifionoI confroI fIow
68 68
InteRRuP InteRRuP {} {}
CPL
LPL
88L
CPL
LPL
88L
CPL
LPL
88L
CPL
LPL
88L
CPL
LPL
88L
Peocfive pofh
LocoI pIonning pofh
(ideoIi;ed)
Cooperofive pofh
(ideoIi;ed)
LocoI pIonning pofh
(insfonce)
Cooperofive pofh
(insfonce)
69 69
OutIine OutIine
XDefinifions
XAnoIysis grid
XAufonomous Agenfs
A
oe
XCommunicofive Agenfs
A
oei
vSociuI Agents -
A
ueio>
A
a
e
i
o
70 70
A
a
e
i
o
SociuI Agents SociuI Agents - -
A A
u u e e i i o o> >
[8oeijs 98] PACOPS [8ouron 9Z] SAM
[Ferber 9I] Eco-probIem
soIving
[8oissier 93] ASIC
[AIIouche 98] STAx
[Jennings 9b] ADEPT
71 71
ADEPT [ ADEPT [Jennings Jennings 9j 9j
t 8uiId on fhe APCHOM orchifecfure
(Europeon projecf)
t Infegrofion orchifecfure
t 8osed on fhe 8DI modeI
t AppIicofion 8usiness Process
Peengineering
72 72
Adept : AppIicution Adept : AppIicution
73 73
ADEPT {Z} ADEPT {Z}
AGENCY
Responsible Agent
PEER
AGENCY
SUBSIDIARY
AGENT
TASK
PEER
AGENCY
Communication
with tasks
Communication
and negociation
with peers and
subsidiaries
Communication
Module
(CM)
Service
Execution
Module
(SEM)
Situation
Assessment
Module
(SAM)
Interaction
Management
Module
(IMM)
S
e
l
f

a
n
d

a
c
q
u
a
i
n
t
a
n
c
e

m
o
d
e
l
e
s
(
S
M

a
n
d

A
M
)
74 74
ADEPT {3} ADEPT {3}
Situation
Assessment
{SAM)
Service
Execution
{SEM)
Interaction
Management
{IMM)
Communication
{CM)
Execufion Services
Acfivify scheduIe
Tosk ovoiIobiIify Megofiofion
hisfory
Megofiofions
Preferences
Descripfion Services
Confrocf Services
Agents of the same
group
Other
groups Tasks
Acquoinfonce
ModeI
SeIf
ModeI
75 75
ADEPT : IMM ADEPT : IMM
Tactical Reasoner
Strategic Reasoner
Evaluation Reasoner
AM
Agent's Groups
Topology of the group
Group's state
Group's Capabilities
Negotiation protocol
interaction history
SM
Services' descriptions
Contracts
Reservation values
Cost functions
-emitted offers
-received offers
- strategies
- tactics
- Negotiation states
- service's starting and
ending dates
Communication
CM
SAM
76 76
ASIC [ ASIC [oissier oissier 93j 93j
t Archifecfure for fhe sfudy of socioI ond
individuoI confroI in o MAS
t AppIicofion Compufer Vision
77 77
ASIC {Z} ASIC {Z}
interpretation execution
PS ES
receiving sending
Interp.
dialogue
organization
u
Interp.
dialogue
L,Pr
SO
Processing
mechunisms
Representution
knowIedge
Dutu FIows
Conv
EO
perception effector
Commund Iuyer
Aduptution Iuyer
Decision Iuyer
78 78
ASIC {3} ASIC {3}
Processing Mechonisms Pepresenfofion
evuIuute decide
commit
reuson
DS, possibiIities
DS,chosen RS,non evuIuuted
RS, evuIuuted kR,ind
CS,ind
Dofo FIows
KnowIedge
ConfroI FIows
Swifch
79 79
STA [ STA [AIIouche AIIouche 9j 9j
t TemporoI reosoning in o MAS focus on fhe
socioI reosoning ospecfs
t AppIicofion indusfrioI supervision
80 80
STA STA {Z} {Z}
Planning
Task Manager
Mental State
Task Description
Environment
Description
Domain
Task
Decide
Dutu FIows
ControI FIows
81 81
Social Reasoning
STA STA {3} {3}
Perception
Domain
task
External Desc.
agent : A1
agent : A2
agent : A3
Dependences
Reception Communication
events
messuges
Mental State
Task Description
Environment
Description
Task Manager
Planning Decide
Dutu FIows
ControI FIows
82 82
OutIine OutIine
XDefinifions
XAnoIysis grid
XAufonomous Agenfs
A
oe
XCommunicofive Agenfs
A
oei
XSocioI Agenfs
A
oeio
vAgent's Architecture
83 83
Architectures Architectures
t ModuIes Orgoni;ofion
t ConfroI fIow one / severoI
t Dofo fIow broodcosf froducfion
t ConfroI sfrucfure inhibifion hierorchy ...
P A
a) horizontal architecture c) layered vertical architecture
two paths
b) modular vertical architecture
one path
P
P
A
A
P : perception, A : action
84 84
Architectures {Z} Architectures {Z}
t HorizontuI:
l simpIe (n behoviours n Ioyers)
l overoII behoviour mighf be inconsisfenf
l Inferocfion befween Ioyers m
n
(m # ocfions per Ioyer)
l ConfroI-sysfem is needed.
t VerticuI:
l OnIy m
Z
(n -1} /n!ctuc!/ons Dc!wccn /uycts
l Mof fouIf foIeronf If one Ioyer foiIs everyfhing brokes
down.
85 85
ConcIusion ConcIusion
t SeveroI ogenfs orchifecfures
t Does if exisf one unique generic orchifecfure 7
t SeveroI componenfs fo design fhe righf
orchifecfure given fhe oppIicofion 7
t Whof obouf fhe MAS pIofforms whof ore fhe
ogenfs orchifecfures ovoiIobIe 7
t Which Agenf ModeI 7 For which oppIicofion 7
86 86
ibIiogruphy ibIiogruphy
t [AIIouche 98] M. AIIouche Une socif dogenfs femporeIs pour Io supervision de sysfmes
indusfrieIs fhse de docforof Univ. Jeon Monef & EMSMSE I998.
t [Agre 87] P.E. Agre D. Chopmon Pengi on impIemenfofion of o Theory of Acfivify AAAI
87 p. Zo8-Z7Z Morgon Koufmonn I987.
t [8oeijs 98] 8oeijs C. /onc!/onnu//!c cmctgcn!c cuns unc soc/c!c cugcn!s uu!onomcs, {!ucc
ccs uspcc!s otgun/su!/onnc/s cuns /cs mu/!/-Xgcn!s tcuc!//s Thse de docforof IMP SrenobIe
I998.
t [8oissier 97] O. 8oissier Y. Demo;eou Une orchifecfure muIfi-ogenf pour des sysfmes de
vision ouverfs ef dcenfroIiss TSI Ocfobre 97
t [8ouron 9Z] T. 8ouron Sfrucfures de communicofion ef dorgonisofion pour Io cooprofion
dons un univers muIfi-ogenfs Thse Poris VI I99Z.
t [8uro 9I] S. 8uro A. DrogouI J. Ferber E. Jocopin Eco-rsoIufion un modIe de rsoIufion
por inferocfions 8me congrs PFIA Lyon AFCET I99I.
t [8rofmon 90] M.E. 8rofmon Whof is Infenfion 7 Infenfions in Communicofion p. Ib-3Z
MIT Press I990.
t 8rofmon M. D. IsroeI ond M. PoIIock (I988). PIons ond Pesource-8ounded ProcficoI Peosoning.
ompu!u!/onu/ Tn!c///gcncc ~(4) 349-3bb.
t [8rooks 8o] P. 8rooks J.H. ConneI Asynchronous Disfribufed ConfroI Sysfem for o mobiIe
robof SPIE 7Z7 MobiIe Pobofs I98o.
87 87
ibIiogruphy ibIiogruphy {Z} {Z}
t [8urmeisfer 93] 8. 8urmeisfer A. Hoddodi K. Sundermeyer Seneric ConfigurobIe
Cooperofion ProfocoIs for MuIfi-Agenf Sysfems MAAMAW93
t [Cohen-Levesque 90] P.P. Cohen H.J. Levesque Infenfion is choice wifh commifmenf
ArfificioI InfeIIigence 4Z p. ZI3-ZoI I990.
t [Demo;eou 93] Y. Demo;eou Lo pIofe-forme PACO ef ses oppIicofions Zme journe
nofionoIe du PPC-IA sur Ies Sysfmes MuIfi-Agenfs PPC-IA MonfpeIIier Dcembre I993.
t [Dennef 87] D. Dennef The InfenfionoI Sfonce MIT Press Combridge MA I987.
t [DrogouI 93] A. DrogouI De Io simuIofion muIfi-ogenf Io rsoIufion coIIecfive de probImes.
Une fude de Imergence de sfrucfures dorgonisofion dons Ies sysfmes muIfi-ogenfs
Thse de IUniversif Poris o.
t [Ferber 9b] J. Ferber Les sysfmes muIfi-ogenfs vers une infeIIigence coIIecfive
InferEdifions I99b.
t [Ferrond 97] Ferrond M. Demo;eou Y. 8oeijs C. cys!cmcs mu/!/-ugcn!s tcuc!//s c! tcso/u!/on
cc ptoD/cmcs spu!/u//scs Pevue dInfeIIigence ArfificieIIe IZ(I) p. 37-7Z I997.
t [Seneserefh 87] M.P. Seneserefh M.J. MiIsson LogicoI Foundofions of ArfificioI
InfeIIigence Morgon Koufmonn I987.
t [Seorgeff 83] M.P. Seorgeff Communicofion ond Inferocfion in MuIfi-Agenf PIonning
AAAI 83 p IZb-IZ9
t Seorgeff M. ond A. Lonsky (I987). Peocfive Peosoning ond PIonning. In Ftocccc/ngs o/ !nc
on/ctcncc o/ !nc Xmct/cun Xssoc/u!/on o/ Xt!///c/u/ Tn!c///gcncc SeoffIe WA pp. o77-o8Z.
88 88
ibIiogruphy {3} ibIiogruphy {3}
t [Levi 90] P. Levi Archifecfures of individuoI ond disfribufed oufonomous ogenfs
InfeIIigenf Aufonomous Sysfems Amsferdom I990.
t [Poo-Seorgeff 9I] A.S. Poo M.P. Seorgeff ModeIing rofionoI ogenfs wifhin o 8DI-
Archifecfure Proceedings of KP ond Peosoning p. 473-484 I99I.
t Poo A. S. ond M. Seorgeff (I99I). ModeIing PofionoI Agenfs wifhin o 8DI-Archifecfure. In J.
F. AIIen P. Fikes ond E. SondewoII (Eds.) Ftocccc/ngs o/ !nc Tn!ctnu!/onu/ on/ctcncc on
Xnow/ccgc Pcptcscn!u!/on unc Pcuson/ng Combridge MA pp. 473-484. Morgon Koufmonn.
t Poo A. S. ond M. Seorgeff (I99b June). FormoI modeIs ond decision procedures for muIfi-
ogenf sysfems. TechnicoI Peporf oI AusfroIion ArfificioI InfeIIigence Insfifufe MeIbourne.
t Poo A. S. (I99b). Decision Procedures for ProposifionoI Lineor-Time 8eIief-Desire-Infenfion
Logics. In M. WooIdridge J. MuIIer ond M. Tombe (Eds.) Tn!c///gcn! Xgcn!s TT - Ftocccc/ngs
o/ !nc 199 otsnop on Xgcn! ncot/cs, Xtcn/!cc!utcs unc /unguugcs XX/-9} VoIume
890 of /XT pp. I-39. 8erIin Sermony Springer-VerIog.
t [Shohom 93] Y. Shohom Agenf Orienfed Progromming ArfificioI InfeIIigence o0 p. bI-9Z
I993.
t [SfeeIs 89] L. SfeeIs Cooperofion befween Disfribufed Agenfs fhrough SeIf-Orgoni;ofion
DecenfroIi;ed AI EIsevier Morfh-HoIIond I989.
t [Sfeiner 9o] Sfeiner D.D. TmXT{ Xn Tn!cgtu!cc {nv/tonmcn! /ot ons!tuc!/ng
D/s!t/Du!cc Xt!///c/u/ Tn!c///gcncc cys!cms Foundofions of Disfribufed ArfificioI
InfeIIigence OHore S.M.P. Jennings M.P. eds WiIey Sons p. 34b-3o4 I99o.
89 89
ibIiogruphy {4} ibIiogruphy {4}
t [Wovish 90] P. Wovish D. Connoh ExpIoifing Emergenf 8ehoviour in MuIfi-Agenf Sysfems
DecenfroIi;ed AI 3 Morfh-HoIIond I99Z.
t [WooIdridge 99] WooIdridge M.J. Tn!c///gcn! Xgcn!s in MuIfiogenf sysfems A modern
opprooch fo Disfribufed ArfificioI InfeIIigence Weiss S. ediforMIT PressI999.
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Chichesfer I99Z.

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