ALLIANCE is a software architecture that fa- cilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled subtasks that may have ordering dependencies. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot's own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically-modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

Trust is a judgement of unquestionable utility — as humans we use it every day of our lives. However, trust has suffered from an imperfect understanding, a plethora of definitions, and informal use in the literature and in everyday life. It is common to say “I trust you, ” but what does that mean? This thesis provides a clarification of trust. We present a formalism for trust which provides us with a tool for precise discussion. The formalism is implementable: it can be embedded in an artificial agent, enabling the agent to make trust-based decisions. Its applicability in the domain of Distributed Artificial Intelligence (DAI) is raised. The thesis presents a testbed populated by simple trusting agents which substantiates the utility of the formalism. The formalism provides a step in the direction of a proper understanding and definition of human trust. A contribution of the thesis is its detailed exploration of the possibilities of future work in the area. Summary 1. Overview This thesis presents an overview of trust as a social phenomenon and discusses it formally. It argues that trust is: • A means for understanding and adapting to the complexity of the environment. • A means of providing added robustness to independent agents. • A useful judgement in the light of experience of the behaviour of others. • Applicable to inanimate others. The thesis argues these points from the point of view of artificial agents. Trust in an artificial agent is a means of providing an additional tool for the consideration of other agents and the environment in which it exists. Moreover, a formalisation of trust enables the embedding of the concept into an artificial agent. This has been done, and is documented in the thesis. 2. Exposition There are places in the thesis where it is necessary to give a broad outline before going deeper. In consequence it may seem that the subject is not receiving a thorough treatment, or that too much is being discussed at one time! (This is particularly apparent in the first and second chapters.) To present a thorough understanding of trust, we have proceeded breadth first in the introductory chapters. Chapter 3 expands, depth first, presenting critical views of established researchers.

This paper provides an overview of research and development activities in the field of autonomous agents and multi-agent systems. It aims to identify key concepts and applications, and to indicate how they relate to one-another. Some historical context to the field of agent-based computing is given, and contemporary research directions are presented. Finally, a range of open issues and future challenges are highlighted.

Introduction Cooperative Distributed Problem-Solving (CDPS) studies how a loosely-coupled network of problem solvers can work together to solve problems that are beyond their individual capabilities. Each problem-solving node in the network is capable of sophisticated problem solving and can work independently, but the problems faced by the nodes cannot be completed without cooperation. Cooperation is necessary because no single node has sufficient expertise, resources, and information to solve a problem, and different nodes might have expertise for solving different parts of the problem. For example, if the problem is to design a house, one node might have expertise on the strength of structural materials, another on the space requirements for different types of rooms, another on plumbing, another on electrical wiring, and so on. Different nodes might have different resources: some might be very fast at computation, others might have connections that speed communication, whil

For distributed sensor network applications, a practical approach to generating complete interpretations from distributed data must coordinate how separate, concurrently-running systems form, exchange, and fuse their individual hypotheses to form consistent interpretations. Partial global planning provides a framework for coordinating multiple AI systems that are cooperating in a distributed sensor network. By combining a variety of coordination techniques into a single, unifying framework, partial global planning enables separate AI systems to reason about their roles and responsibilities as part of group problem solving, and to modify their planned processing and communication actions to act as a more coherent team. Partial global planning is uniquely suited for coordinating systems that are working in continuous, dynamic, and unpredictable domains because it interleaves coordination with action and allows systems to make effective decisions despite incomplete and possibly obsolete i...

Coordination, as the act of managing interdependencies between activities, is one of the central research issues in Distributed Artificial Intelligence. Many researchers have shown that there is no single best organization or coordination mechanism for all environments. Problems in coordinating the activities of distributed intelligent agents appear in many domains: the control of distributed sensor networks; multi-agent scheduling of people and/or machines; distributed diagnosis of errors in local-area or telephone networks; concurrent engineering; `software agents' for information gathering. The design of coordination mechanisms for group...

In this paper we present a model of decentralized problem solving, called Distributed Constrained Heuristic Search (DCHS) that provides both structure and focus in individual agent search spaces so as to optimize decisions in the global space. The model achieves this by integrating decentralized constraint satisfaction and heuristic search. It is a formalism suitable for describing a large set of DAI problems. We introduce the notion of textures that allow agents to operate in an asynchronous concurrent manner. The employment of textures coupled with distributed asynchronous backjumping (DAB), a type of distributed dependency-directed backtracking that we have developed, enables agents to instantiate variables in such a way as to substantially reduce backtracking. We have experimentally tested our approach in the domain of decentralized job-shop scheduling. A formulation of distributed job-shop scheduling as a DCHS is presented as well as experimental results.

We describe how a behavior hierarchy can be used in a protocol that allows AI agents to discover and resolve interactions flexibly. Agents that initially do not know with whom they might interact use this hierarchy to exchange abstractions of their anticipated behaviors. By comparing behaviors, agents iteratively investigate interactions through more focused exchanges of successively detailed information. They can also modify their behaviors along different dimensions to either avoid conflicts or promote cooperation. We explain why our protocol gives agents a richer language for coordination than they get through exchanging plans or goals, and we use a prototype implementation to illustrate our protocol. We argue that our hierarchical protocol for coordinating behaviors provides a powerful representation for negotiation and can act as a common foundation for integrating theories about plans and organizations. Introduction In a world inhabited by numerous active systems (agents), the ...

THE aim of this thesis is to investigate logical formalisms for describing, reasoning about, specifying, and perhaps ultimately verifying the properties of systems composed of multiple intelligent computational agents. There are two obvious resources available for this task. The first is the (largely AI) tradition of reasoning about the intentional notions (belief, desire, etc.). The second is the (mainstream computer science) tradition of temporal logics for reasoning about reactive systems. Unfortunately, neither resource is ideally suited to the task: most intentional logics have little to say on the subject of agent architecture, and tend to assume that agents are perfect reasoners, whereas models of concurrent systems from mainstream computer science typically deal with the execution of individual program instructions. This thesis proposes a solution which draws upon both resources. It defines a model of agents and multi-agent systems, and then defines two execution models, which ...

Computational and mathematical organization theory is an inter-disciplinary scientific area whose research members focus on developing and testing organizational theory using formal models. The community shares a theoretical view of organizations as collections of processes and intelligent adaptive agents that are task oriented, socially situated, technologically bound, and continuously changing. Behavior within the organization is seen to affect and be affected by the organization’s position in the external environment. The community also shares a methodological orientation toward the use of formal models for developing and testing theory. These models are both computational (e.g., simulation, emulation, expert systems, computer-assisted numerical analysis) and mathematical (e.g., formal logic, matrix algebra, network analysis, discrete and continuous equations). Much of the research in this area falls into four areas: organizational design, organizational learning, organizations and information technology, and organizational evolution and change. Historically, much of the work in this area has been focused on the issue how should organizations be designed. The work in this subarea is cumulative and tied to other subfields within organization theory more generally.