Mobile Agent Cloning for Servicing Networked Robots 2 STIGMERGICALLY CONTROLLING A POPULATION OF HETEROGENEOUS MOBILE AGENTS USING CLONING RESOURCE 4 ROBOTICS LABORATORY wwwiitgernetincserobotics ID: 461295
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MULTI-MOBILE AGENT MULTI-ROBOT SYSTEM
Mobile Agent Cloning for
Servicing
Networked
Robots 2
STIGMERGICALLY CONTROLLING A POPULATION OFHETEROGENEOUS MOBILE AGENTS USING CLONING RESOURCE4
ROBOTICS LABORATORY www.iitg.ernet.in/cse/robotics/Department of Computer Science and EngineeringINDIAN INSTITUTE OF TECHNOLOGY GUWAHATI
ROBOT IN A TRAP
TYPE 2 ROBOT
MOBILE AGENTS WITH INTELLIGENCE
Agent Migration
TYPE 2 ROBOT
TYPE 1 ROBOT
TYPE 1 AGENT
NODE 2
NODE 1
NODE 3
NODE 4
TYPE 2 AGENT
TYPE 1 ROBOT
TYPE 1 AGENT
ANTIGEN
PARATOPE
EPITOPE
ANTIBODY
VARIABLE REGION
(RULES)
CONSTANT REGION
(DESIGNATES THE TYPE OF THE AGENT/ROBOT)
ACTION TO BE PERFORMED BY THE ROBOT
BATTERY SENSOR 1
LEFT LIGHT SENSOR 1
RIGHT
LIGHT SENSOR 1
ACTION
1
BATTERY SENSOR
LEFT LIGHT SENSOR
RIGHT
LIGHT SENSOR
STATIC AND MOBILE AGENTS
MOBILE ROBOT
Mobile Agent Framework on a Mobile
Robot
1
Artificial Immune System Based Learning Mechanism
3
TASK
DISCOVERY
ROBOT CONTROLLER
TASK ALLOCATOR
TASK EXECUTOR
Request Generation
Pheromoning
Cloning
Pheromones diffused up to two hop neighbors
RRS: Robot Requesting Service
Mobile Agent as an Antibody
1
W. W. Godfrey. and
S
hivashankar
B
. Nair
,
"
A Pheromone based Mobile Agent Migration Strategy for Servicing Networked Robots
", Proceedings of the 5th International ICST Conference on Bio-Inspired Models of Network, Information, and Computing Systems (BIONETICS 2010), December 1-4th, Boston, USA.
2
W. W. Godfrey. and
Shivashankar
B. Nair, "
Mobile Agent Cloning for Servicing Networked Robots
", Proceedings of the 13th International Conference on Principles and Practice of Multi-Agent Systems (PRIMA 2010), November 12-15th,2010, Kolkata, India.
3
W. W. Godfrey. and
Shivashankar
B. Nair, "
An Immune System based Multi-Robot Mobile Agent Network
", Lecture Notes in Computer Science, Springer Berlin / Heidelberg ISSN 0302-9743,Volume 5132/2008, pp. 424-433, The 7th International Conference on Artificial Immune Systems (ICARIS 2008), August 10-13th, 2008,
Phuket
, Thailand.
5
W.W
. Godfrey,
Shashi
Shekhar
Jha
and
Shivashankar
B. Nair,
“
On
A Mobile Agent Framework for an Internet of
Things
”,
Proceedings of the International Conference on Communication System and Technologies, CSNT 2013, Gwalior, India, Published in IEEE
Xplore
, pp. 345-350.
DOI
: 10.1109/CSNT.2013.79.
Mobile agents carry services (code, rules, etc.) as their payload and populate a robotic network. They either migrate conscientiously or track pheromones diffused by robots wanting a service.
Parent Mobile Agent
Clone Mobile Agent
Requested Service with RRS Id
Id
Architecture of the Cloning Controller
The Cloning Control Mechanism
Simulation Result
Emulation Result
4
W
. W. Godfrey,
Shashi
Shekhar
Jha
and
Shivashankar
B. Nair, On Stigmergically Controlling a Population of Heterogeneous Mobile Agents Using Cloning Resource, Transactions on Computational Collective Intelligence, Springer. (Accepted)
Operations occurring at every step at each node:
AtNodeQueue
If an Agent is at the top of the Intra-node Queue
CloneifNecessary
()
Compute “
NextNode
” using Pheromone-Conscientious Algorithm
Check if movement to the next node is possible. If true
goto
(d) else
goto
(3)
Execute
OnDeparture
() Method
If an Agent is permitted into the Intra-Node Queue
Execute
OnArrival
() Method
Decrement the Life-time of every agent in the Queue
OnArrival
()
Execute the service if this is the RRS that requested for its service. If true
goto
(2) else
goto
(3)
Change the Cloning Resource and the Life-time based on rewards
Enter into the Intra-Node Queue of the entering Node
OnDeparture
()
Remove from the Intra-Node Queue of the existing Node
CloneifNecessary
()
Find Resource needed for cloning
Find the Number of Clones
Decrement the Resource based on the Number of clones
Create Clones
Recharge the Cloning Resource
Mobile Agent based Systems (Artificia
l Being
)
A MOBILE AGENT FRAMEWORK FOR
AN INTERNET OF THINGS
5
Architectures of mobile agent based devices that can populate
the
Internet of Things
Components
of the off-board
Mobile
Agent
Framework
(
MAF)
Components
of the
on-board
Mobile
Agent
Framework
(
MAF)
Functions
:
Support Migration and Execution of Mobile Agents
Maintain neighbour list
The envisaged
Internet of
Things
The
air-conditioner, vacuum-cleaner and the robot use the MAFs running on dedicated nodes while the printer and web-cam have the same embedded within themselves
.
Types of Mobile Agents in the Internet of Things
SfR
(Search
for
Resource) Agents
:
These mobile agents are capable
of finding a
resource in the network as per the specifications of the task to be performed.
PaS
(Provide a Service) Agents
:
These mobile agents carry
the source
code (service)
for a
task
as its
payload.
Proof-of-Concept Experiment