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Theses

MASL, langage de contrôle multi-agents robotiques

Abstract : MASL OFFERS A MACROSCOPIC AND UNIFIED APPROACH WITH HETEROGENEOUS AND DISTRIBUTED CALCULATIONS OVER DELIBERATIVE, REACTIVE OR HYBRID AGENTS. IN THIS HIGH LEVEL LANGUAGE, REGARDLESS OF THE RUNTIME, EACH CONCURRENT AGENT LOCALLY DECIDES ITS PARTICIPATION IN A COLLECTIVE EXECUTION BLOCK NAMED AN E-BLOCK. EACH E-BLOCK IS AN ANONYMOUS COLLECTIVE PROGRAM THAT RUNS OVER AN AGENT NETWORK FOLLOWING LOCAL CONDITIONS. THE ORCHESTRAL MODE (SCALAR, ASYNCHRONOUS, SYNCHRONOUS) IS STATICALLY FIXED BY A SHARED BLOCK ATTRIBUTE. THE COMMUNICATION USE SHARED MEMORY, EVENTS, SYNCHRONOUS MESSAGES PASSING, AND ASYNCHRONOUS MESSAGES PASSING. HETEROGENEOUS AGENTS ARE MANAGED WITH HERITAGE AND POLYMORPHISM. PERMEABILITY MECHANISM, DEALING WITH AGENT AUTONOMY, ALLOWS AN AGENT TO DYNAMICALLY FILTER CALLS TO ITS INTERFACE IN RESPECTS TO THE SENDER POSITION IN THE E-BLOCK HIERARCHY. IN DYNAMIC TASK ALLOCATION OF AGENTS, AUTO FAILOVER AND RECOVERY, AGENT REPLACEMENT IN A ROBOT FLEET (CASE OF AGENT FAILURE, LOSS OF A MANDATORY FUNCTIONALITY FOR THE MISSION) AN E-BLOCK IS AN ENTRY POINT OF A COLLABORATIVE WORK. IN THE CASE OF SYNCHRONOUS E-BLOCK, THE PROGRAMMING PARADIGM IS THE DATA PARALLEL MODEL WITH ITERATIVE TASK FOR WAVES OF AGENTS. FINALLY, MASL OFFERS ADVANCES IN THE FIELD OF MAS (DYNAMIC BELONGING TO GROUPS, ACCURACY OF THE PACE OF ACTIONS TO UNDERTAKE TO ENABLE A DESIRED COOPERATION) AND FOR THE MANAGEMENT OF ERRORS.
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https://tel.archives-ouvertes.fr/tel-00502455
Contributor : Michel Dubois <>
Submitted on : Thursday, July 15, 2010 - 3:00:03 AM
Last modification on : Thursday, July 15, 2010 - 7:58:47 AM

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  • HAL Id : tel-00502455, version 1

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Michel Dubois. MASL, langage de contrôle multi-agents robotiques. Autre [cs.OH]. Université de Bretagne Sud, 2008. Français. ⟨tel-00502455⟩

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