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Distributed Coordination of Heterogeneous Agents Using a Semantic Overlay Network and a Goal-Directed Graphplan Planner
Filetype[PDF - 842.49 KB]


Details:
  • Pubmed ID:
    23704885
  • Pubmed Central ID:
    PMC3660390
  • Funding:
    OE/EEI/LA0008/2011/OE/OSELS CDC HHS/United States
    PTDC/EEACRO/104658/2008/PHS HHS/United States
    SFRH/BD/27533/2006/BD/FDA HHS/United States
  • Document Type:
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  • Description:
    In this paper, we describe a distributed coordination system that allows agents to seamlessly cooperate in problem solving by partially contributing to a problem solution and delegating the subproblems for which they do not have the required skills or knowledge to appropriate agents. The coordination mechanism relies on a dynamically built semantic overlay network that allows the agents to efficiently locate, even in very large unstructured networks, the necessary skills for a specific problem. Each agent performs partial contributions to the problem solution using a new distributed goal-directed version of the Graphplan algorithm. This new goal-directed version of the original Graphplan algorithm provides an efficient solution to the problem of "distraction", which most forward-chaining algorithms suffer from. We also discuss a set of heuristics to be used in the backward-search process of the planning algorithm in order to distribute this process amongst idle agents in an attempt to find a solution in less time. The evaluation results show that our approach is effective in building a scalable and efficient agent society capable of solving complex distributable problems.