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AGV SimulationAGV Simulation

Tutorial

Nelis Boucké

Alexander Helleboogh

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OverviewOverview

• Introduction

• Architecture

• Installation

• Use

• Extensions

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Simulation is crucial for Simulation is crucial for MAS applicationsMAS applications

• AGVs (Automated Guided Vehicles)o Transport loads in warehouse

o Complex network of road segments and crossroads

• Advantage of using MASo Decentralized system behavior

Robust & flexible

In dynamic & unpredictable environments

• Test before deployment!o Decentralized systems

o No risk of damaging AGVs

• Challenge for simulationo Test robustness & flexibility

o Dynamic test scenarios needed!

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How do we test?How do we test?

Agent software

Simulated environment

DeployTest

Warehouse environment

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OverviewOverview

• Introduction

• Architecture

• Installation

• Use

• Extensions

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Java VMJava VM

Eclipse Platform

AGV Simulator GUI Plug-inAGV Simulator GUI Plug-in

ArchitectureArchitecture

AGV BatchSimulator

AGV BatchSimulator

MAP editorMAP editor SimulationRunner

SimulationRunner

AGV AgentBehavior

AGV AgentBehavior

XML

agentwise.agvsimulation

agentwise.agvsimulation.ui

agentwise.agvsimulation.behaviordemo

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AGV batch simulatorAGV batch simulator

Interface

Deliberation Time Model

Simulated Environment

InterfaceInterface

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Programming Programming AGV BehaviorAGV Behavior

• Class:o AGVRandomWalkBehavior

Specify your behavior here!Package agentwise.agvsimulation.behaviordemo

• Classes you can use:o AGVBehavior

The complete set of instructions to steer the AGV robotpackage agentwise.agvsimulation.agv

Interface

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Scenario: decisions of agentsScenario: decisions of agents

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

A

B

sendUnicast @ T=1

driveToStation @ T=1

driveToStation @ T=2

Influences

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Scenario: decisons result in Scenario: decisons result in activitiesactivities

QuickTime™ and aTIFF (Uncompressed) decompressor

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A

B

Activities

Send activity over (1,2)

Move activity over (2,6)

Move activity over (1,5)

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A

B

Activities interfere!Activities interfere!

A

B

A

BA

B

Intended outcome

Actual outcome

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What does this imply?What does this imply?

• Specification of AGV programming interface o No post conditions in terms of what will happen

o All kinds of catastrophes can happen

Not indicated by exceptions

o Only specifies what an agent tries to do

• Thinking versus actingo Agents can think and act in parallel

Agent have to wait explicitly while their AGV is driving

waitsecond()

Agents can send messages while their AGV is driving

o Agents are not notified of anything

have to rely on polling their sensors