A Generic Software Framework For Distributed Coordination And Control In Multiagent Systems
Thorbjørn Borup, Alexander Larsen, Kim J. Mo̸rk, E. Steemann Nielsen, Sigurd Lazic Villumsen · 2008
Abstract—This paper addresses the problem of design-ing a generic framework for distributed coordination and control in multiagent systems. Communication between agents increase their effectiveness, which is why this is the cornerstone of the software framework. Generic aspects are secured by making all layers of the software framework exchangeable, which secures compatibility with different wireless topologies, protocols and applications. A protocol for multiagent systems and an application regarding dis-tributed household cleaning is designed. The parts of the design concerning task assignment and peripheral units is implemented on the designed software framework. The results show that it is possible to implement applications on the designed software framework. The designed task assignment algorithm is able to distribute tasks between multiple agents in a hierarchical manner by means of the protocol. Furthermore it is possible to interact with peripheral units in the form of a Ubisense localisation system and an automated door from Besam. The tests of the protocol show that optimizations regarding collision avoidance are needed in order to make the protocol usable. The designed algorithm for cooperative completion of tasks is verified by means of UPPAAL. From this it is concluded that all states of the algorithm are reachable and it contains no deadlocks. I.