An agent based framework for adaptive control and decision making of autonomous vehicles
Adaptation and Learning in Control and Signal Processing, Volume # 10 | Part# 1
Lincoln, Nicholas K.; Veres, Sandor M.; Dennis, Louise; Fisher, Michael; Lisitsa, Alexei
Digital Object Identifier (DOI)
control of hybrid systems,intelligent physical agents,autonomous control
The paper addresses the problem of defining a theoretical physical agent framework that combines rational agent decision making with abstractions from predictions and planning of the future of the physical environment. The objective of the new framework is to reduce complexity of logical inference of agents controlling autonomous vehicles and robots in space exploration, deep underwater exploration, defense reconnaissance, automated manufacturing and household automation. An essential feature of the framework is automated realtime evaluations of abstractions on the effects of future actions. Comparison is made with hybrid automaton based solutions in terms of computational complexity.
 Michael Wooldridge and Nicholas R. Jennings, Intelligent Agents: Theory and Practice. Knowledge Engineering Review Journal, 1995, volume 10, pp 115-152.  Anand S. Rao and Micheal P. Georgeff, Formal Models and Decision Procedures for Multi-Agent Systems. Technical note 61: Australian Artificial Intelligence Institute, June 1995.  H. Van Dyke Parunak, Practical And Industrial Applications of Agent-Based Systems, 1998.  Georgeff, M. P. and Lansky, A. L. (1987). Reactive Reasoning and Planning. In Proceedings of the Sixth National Conference on Artificial Intelligence (AAAI-87), pages 677-682, Seattle, WA.  Rafael H. Bordini, Jomi F. Hubner and Micheal Wooldridge, Programming Multi-Agent Systems in AgentSpeak Using Jason. Published by John Wiley and Sons, 2007.  Fabio Bellifemine, Giovanni Caire and Domonic Greenwood, Developing Multi-Agent Systems With Jade. Published by John Wiley and Sons, 2007.  Sandor M. Veres, Autonomous Control Systems Using Agents: An Introduction. In, Proceedings of IEE Workshop on Agent Based Control Systems. IET (IEE), 1-10 (2005).  R. Brooks, A Robust Layered Control System for a Mobile Robot. Robotics and Automation, IEEE Journal in Robotics and Automation, Vol. 2, No. 1, March 1986.  Sandor M. Veres and Aron G Veres, Learning and Adaptation in Physical Agents. In, 9th IFAC Workshop Adaptation and Learning in Control and Signal Processing (ALCOSP'07), St Petersburg, Russia, 29-31 Aug 2007.  Sandor M. Veres and Aron G. Veres, Learning and Adaptation of Skills in Autonomous Physical Agents. In, 17th World Congress of International Federation of Automatic Control, Seoul, Korea, 6-10 Jul 2008. Seoul, Korea, Elsevier - Pergamon Press, 6 pp. 2671-2676.  Michael Wooldridge, An Introduction to MultiAgent Systems. Published by John Wiley and Sons, 2002.  K. L. Myers, Procedural Reasoning System User's Guide: A Manual for Version 2.0. Technical report, Artificial Intelligence Center, SRI International, Menlo Park, CA, 2001.  Belta, C., V. Isler, and G. Pappas, Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments. IEEE Transactions on Robotics, 2005. 21(5): p. 864-874.  Fainekos, G.E., S.G. Loizou, and G.J. Pappas. Translating Temporal Logic to Controller Specifications. in Proceedings of the 45th IEEE Conference on Decision & Control. 2006. San Diego, CA, USA,  Marius Kloetzer and Calin Belta, A Fully Automated Framework for Control of Linear Systems from LTL Specifications. In Hybrid Systems: Computation and Control (2006), pp. 333-347.  Sandor M. Veres and Nicholas K. Lincoln, Sliding Mode control for Agents and Humans. In Proceedings, TAROS'08, Towards Autonomous Robotic Systems 2008, Edinburgh, UK, 1-3 Sept 2008. Edinburgh, UK, IC London, 13pp, 61-73.  Sandor M Veres, Natural Language Programming of Agents and Robotic Devices: Publishing for humans and machines in sEnglish. Published by SysBrain, London, 2008, ISBN 978-0- 9558417-0-5.  Louise A. Dennis, Michael Fisher, Nicholas Lincoln, Alexei Lisitsa and Sandor M. Veres, Agent Based Approaches to Engineering Autonomous Space Software. In Proc. Workshop on Formal Methods for Aerospace. Electronic Proceedings in Theoretical Computer Science 20. March 2010.  S. M. Veres, S. B Gabriel, D. Q Mayne and E. Rogers, Analysis of Formation Flying Control of a Pair of Nano-satellites. AIAA Journal of Guidance, Control, and Dynamics, 25 (5). pp. 971-974.  R. Pongvthithum, S. M. Veres, S. B. Gabriel and E. Rogers, Universal Adaptive Control of Satellite Formation Flying, International Journal of Control, Volume 78(1), January 2005.  D. Ya. Rokityanski and S.M. Veres, Application of Ellipsoidal Estimation to Satellite Control. Mathematical and Computer Modelling of Dynamical Systems, 11, (2), pages 239-249 (2005).  N.K. Lincoln and S.M. Veres. Components of a Vision Assisted Constrained Autonomous Satellite Formation Flying Control System. International Journal of Adaptive Control and Signal Processing, 21(2-3):237-264, October 2006.  S.M. Veres, (2006) Autonomous formation flying of satellite robots: the mechanical control layer. In Proceedings, TAROS 2006: Towards Auton. Robotic Systems, Guildford, UK, 4-6 Sep 2006.  S.M. Veres, Thanapalan, K., Gabriel, S. and Rogers, E. (2006) Reconfigurable Controller Design For Operational Safety in Satellite Formation Flying. In Proceedings, International Control Conference 2006, Glasgow, Scotland, UK, 30 Aug - 1 Sept, 2006.  David A. Vallado and Wagne D. McClain, Fundamentals of Astrodynamics and Applications (Space Technology Library). Published by Springer Link, 2001.  Marcel J. Sidi, Spacecraft Dynamics and Control, Published by Cambridge University Press, 1997.