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Holon - Like Approach for Robotic Soccer
Abstract
The concept of "holon" coming from the industry (intelligent manufacturing systems) has been proved to be very successful in increasing the exibility of decisional systems. While MAS (multi-agent system) are already largely applied in such systems, in this context, simulated soccer (RoboCup environment) becomes a test bench for further challenges. The paper describes a generic architecture for a RoboCup team with four holon types situated on three levels and based on the MAS architecture implemented in 1999 for the team that took part at the RoboCup 1999 competition in Stockholm. This architecture tries to combine synergistically the characteristics of both domains: MAS and HMS. 1
... MetaMorph (Maturana 1997;Maturana et al. 1999). Le concept d'holon a aussi été introduit dans des domaines autres que les systèmes de production, par exemple le projet Robot Soccer (Candea et al. 2000), ou encore dans les systèmes multi agents (Gerber et al. 1999 La modélisation par propriétés est une des caractéristiques de l'approche objet dont l'origine remonte aux années 60 avec le langage SIMULA (Dahl and Nygaard 1966 ;Birtwistle et al. 1973). Cette approche a été utilisée sous le nom de modélisation dirigée par les propriétés (Property Driven Model) (Barthes et al. 1979). ...
The work presented in my thesis proposes a product oriented approach for interoperability of enterprise systems. This approach aims at ensuring consistency between product representations in a specific manufacturing environment and the physical reality of the product. The main result of this work is a model driven approach for interoperability based on a generic meta-model that defines all concepts used for representing the product. A formalisation of model driven mappings for semantic interoperability has also been proposed.
In this thesis, a reference meta-model has been defined, to enable exchange between different applications. This meta-model defines the set of modelling constructs and relationships mandatory to build a generic representation of the product in the enterprise. In our modelling approach, the product is considered as the combination of a physical part and an informational part. The purpose of product oriented interoperability is, on one hand, to define mechanisms to maintain consistency between this representation and the reality of the product, and on the other hand to make sure that all applications share the representation of the same product.
To validate our approach, a case study has been performed in a real enterprise. The aim of this case study was to define a specific representation for the product of the enterprise to ensure traceability of products from the reception of customer orders to the delivery of products. This case study is a part of a bigger project attempting to build a traceability management system inside the host enterprise. This case study enables us to apply our modelling approach in realistic conditions, and permits the engineering of a database schema that is to be used in the development of the traceability management system.
Considering that anthropo centric systems are an adequate domain for captological approaches, and that interface agents are most natural interactants for the humans involved, the paper presents a broad-spectrum generic architectural framework to support developing flexible interfaces for industrial applications, based on synergetic correlation between persuasive technologies and polymorphic agents. The design space for agent-oriented captology is defined and several of its main dimensions are elaborated upon. The main mechanisms used are dynamic priorities, "flexible cloning" and fuzzy temporal windows. Some agent-oriented test-bench applications instantiating the generic architecture, arc described briefly.
In this paper, we focus on various aspects of coordination in the framework of the RoboCup competitions. In particular, we address both multi-agent systems that have been developed within the simulation league and multi-robot systems that have been realized in the middle-size league. From the multi-agent perspective we present a behavior-based technique for position selection and the so-called holonic approach. In the multi-robot domain, we address both communication and distributed coordination within a heterogeneous team of autonomous robots.
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