Вісники та науково-технічні збірники, журнали
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Item Multi-agent Coordination with Deferred Asynchronous Messaging in a Distributed Coordination Space(Видавництво Львівської політехніки, 2022-02-28) Botchkaryov, A.; Lviv Polytechnic National UniversityA method of multi-agent coordination with deferred asynchronous messaging in a distributed coordination space has been proposed. The method has been based on the concept of multi-agent conditional interaction. The method has used: 1) a distributed coordination space in which agents move; 2) the rules of state transitions for the coordination space nodes depending on the movements of agents; 3) the rules of agents move and state transitions depending on the states of the coordination space nodes; 4) a multi-agent coordination game based on the coordination space and the rules. The coordination space has been implemented based on the distributed shared memory of agents. The rules have been applied by exchanging deferred asynchronous messages between agents through the distributed shared memory. The agent’s decisions about movement in the coordination space and their consequences are interpreted according to the rules in asynchronous messages. Delivery of messages to other agents has been deferred until these agents visit the corresponding nodes of the coordination space. This has ensured: 1) mutual exclusion when agents choose conflicting actions, and 2) resilience of multi-agent coordination to agent failures and loss of coordinating messages. Four multi-agent coordination games have been considered as examples. The issue of fault tolerance of the proposed coordination method has been considered. The simulation results show that the use of the method ensures the resilience of multi-agent coordination to agent failures in the considered coordination games.Item Coscheduling Spatial Self-organization and Distributed Data Collection in Multi-agent System(Видавництво Львівської політехніки, 2022-02-28) Botchkaryov, A.; Lviv Polytechnic National UniversityThe problem of coscheduling spatial selforganization control processes and distributed data collection processes in a multi-agent system has been considered. The goal of coscheduling is to find and use the possibilities of functional coordination of these processes and increase the efficiency of the multi-agent system due to their parallel execution. An analysis of the main features of spatial selforganization tasks that affect the solution of the problem of coscheduling has been carried out. Variants of the mobile agent robotic platform configuration and the problem of the dependence of spatial self-organization algorithms on the type of robotic platform have been considered. A method of coscheduling of spatial self-organization and distributed data collection by coordinated parallel execution of the corresponding data collection process and the process of controlling mobile agent motion has been proposed. The method of coscheduling is implemented using the interaction protocol of these processes and the algorithm for planning their parallel execution using functional decomposition. The simulation results of the proposed method of coscheduling are given. It is proved that the proposed method of coscheduling provides acceleration of computations in the decision-making module of the mobile agent due to more efficient parallelization. On average, for typical values of parameters of control processes, the proposed method of coscheduling provides acceleration of computations in the decision-making module of the mobile agent by 40.6%.