Tomáš Jukin@Inza

Multi-Agent Systems on Arduino & iOS

Znáte Half-Life?

Table

Robot

Tomáš Jukin@Inza

www.juicymo.cz@JuicymoCZ

Tomáš Jukin@Inza

Tomáš Jukin@Inza

#MachineRoomat #DevFestCZ

MachineRoom

Movement Agent

Movement Agent

Turning Agent

Movement Agent

Turning Agent

Border Agent

When to use MAS?And for what?

When to use MAS?

“When the solution is complex algorithm …”

When to use MAS?

“… which is difficult / impossible to

design or code”

When to use MAS?

Lets split complex behavior to simple

agents

HOW to use MAS?

A) MANY agents in ONE robot form population of ONE robot !

B) ONE agent per ONE robot form population of MANY robots

A) MANY agents per robot !

B) ONE agent per robot, MANY robots

HOW to use MAS?

A) MAS controls one robot !

B) MAS controls MANY robots

HOW to use MAS?

Today I will talk about A)

MANY agents in ONE robot form population of ONE robot

MAS controls one robot

HOW to use MAS?

When to use MAS?

Agents do not need to know HOW to solve the

problem

When to use MAS?

Let them accumulate money instead ;)

(for example)

When to use MAS?

Let the emergence do the dirty work for us!

Any dangers?

Emergence is not a cute girl…

To tune it properly can be tricky…

Examples?

Airplane navigationRobot control

Network diagnosticsPredictive systems

Simulations

Computer Games AI

MASculptor

Leden 2014Objective-C

Open Source

MASculptor

example screenshots, few infoiOS agnostic

demo iOS6 only

Swift

What is an agent?

Co je to agent?

Agent je entita zkonstruována za účelem kontinuálně a do jisté míry autonomně plnit své cíle v adekvátním prostředí na základě vnímání prostřednictvím senzorů a prováděním akcí prostřednictvím aktuátorů. Agent přitom ovlivňuje podmínky v prostředí tak, aby se přibližoval k plnění cílů.

“

”

Co je to agent?

Agent je entita zkonstruována za účelem kontinuálně a do jisté míry autonomně plnit své cíle v adekvátním prostředí na základě vnímání prostřednictvím senzorů a prováděním akcí prostřednictvím aktuátorů. Agent přitom ovlivňuje podmínky v prostředí tak, aby se přibližoval k plnění cílů.

“

”

Co je to agent?

Agent Prostředí

Senzory

Aktuátory

Co je to agent?

Agent Prostředí

Senzory

Aktuátory

Vnitřní architektura

Znalostní báze

Řídíci jednotka

Rozdíl je ve vnitřní architektuře

Agent Prostředí

Senzory

Aktuátory

Vnitřní architektura

Naive(communicating)

agentReactive

agent

Deliberative(planning)

agent

Hybridagent

(reactive + planning)

performReasoning() { // ...

}

WorldState1 -> Action1 WorldState2 -> Action2 WorldState3 -> Action3 else -> idle

Behavior Pattern TableAbstract Method

Desire > Goal > Intents > Plan > Steps

1) Generate (choose) Plan 2) Execute

Reactive + DeliberativeWorldState1 -> Action1 WorldState2 -> Action2 WorldState3 -> Action3 else -> Deliberative

1) Generate (choose) Plan 2) Execute

What is an MAS?

What is MAS?

Multi-Agent System is a system which uses group or population of agents interacting with environment in order to achieve global goal. Typically individual agents do not have a clue about the global goal. They have their own goals. The global goal is achieved by emergence.

What is MAS?

Multi-Agent System is a system which uses group or population of agents interacting with environment in order to achieve global goal. Typically individual agents do not have a clue about the global goal. They have their own goals. The global goal is achieved by emergence.

#Probee Robot

#Probee Robot

3x UltraSonic Sensor (Forward / Backward / Turret)

4x DC Motor

1x Motor Controller (Left / Right)

1x Arduino UNO (= brain)

1x Bluetooth Module

1x 2x16 I2C LCD (= status display)

MachineRoom

How our MAS in #Probee Robot works?

MAS in #Probee RobotWritten in Wiring/Processing (C dialect)Running on 8bit processor32KB program memory, 2KB RAM

Concurrency vs. Parallelism

Parallelism

time →

Parallelism

Agent 1

Agent 2

Agent 3time →

Parallelism

Agent 1

Agent 2

Agent 3

How much work can be done in parallel? !

Every agent…time →

Concurrency

time →

Concurrency

time →

Agent 1

Agent 2

Agent 3

Concurrency

time →

Agent 1

Agent 2

Agent 3

How much work is actually computed in parallel? !

Only one (serialization)

MAS in #Probee RobotWritten in Wiring/Processing (C dialect)Running on 8bit processor32KB program memory, 2KB RAM

MAS in #Probee RobotWritten in Wiring/Processing (C dialect)Running on 8bit processor32KB program memory, 2KB RAM

Parallelism

4

MAS in #Probee RobotWritten in Wiring/Processing (C dialect)Running on 8bit processor32KB program memory, 2KB RAM

Parallelism

4Concurrency

1 (serialization)

MAS in #Probee RobotWritten in Wiring/Processing (C dialect)Running on 8bit processor32KB program memory, 2KB RAM

Parallelism

4Concurrency

1 (serialization)

Agents

4

A1StopperAgent

A1StopperAgent

A2Communicating

Agent

A1StopperAgent

A2Communicating

Agent

A3PlannerAgent

A1StopperAgent

A2Communicating

Agent

A3PlannerAgent

A4Movement

Agent

Stop when collision would

happen

Connect with user

(send sensor data, receive motor data)

“Plan” the next action

Control movement based on orders

from A2/A3

A1 Stopper

A2 Communicator

A3 Planner A4 Mover

Environment

Sensors

Actuators

Sensors

Actuators

Sensors

Actuators

Sensors

Actuators

A1 Stopper

A2 Communicator

A3 Planner A4 Mover

Sensors

Actuators

Sensors

Actuators

Sensors

Actuators

Sensors

Actuators

Environment

Blackboard MotorsBluetooth

a1_vars

a2_vars a4_varsUltrasonic Sensors

a3_vars

MAS run even on places you do not expect!M

Anyone can make Software, try Hardware as well!A

Seize the opportunity and make your MAS today!S

M

A

M

S

A

M

S

A

MAS run even on places you do not expect!M

S

Anyone can make Software, try Hardware as well!A

MAS run even on places you do not expect!M

Seize the opportunity and make your MAS today!S

Anyone can make Software, try Hardware as well!A

MAS run even on places you do not expect!M

Interested?

Build or ImplementYOUR own MAS!

You can start right now……with any language…

…or on Arduino!

Questions?

Tomáš Jukin@Inza

www.juicymo.cz@JuicymoCZ

Photo Credits

All photos used are CC from Flickr!