## SAMON: communication, cooperation and learning of mobile autonomous robotic agents (1999)

Venue: | Proceedings of the 11 th IEEE Intl. Conf. On Tools with Artificial Intelligence |

Citations: | 6 - 1 self |

### BibTeX

@INPROCEEDINGS{Eberbach99samon:communication,,

author = {Eugene Eberbach and Shashi Phoha},

title = {SAMON: communication, cooperation and learning of mobile autonomous robotic agents},

booktitle = {Proceedings of the 11 th IEEE Intl. Conf. On Tools with Artificial Intelligence},

year = {1999},

pages = {229--236}

}

### OpenURL

### Abstract

The Applied Research Laboratory Penn State University “Ocean SAmpling MObile Network” (SAMON) Project is developing the simulation testbed for the oceanographic communities interactions through the Web interface and the simulation based design of Autonomous Ocean Sampling Program missions. In this paper, a current implementation of the SAMON is presented, and a formal model based on interactive automata is described. The basic model is extended by process algebra constructs to handle mobility, evolution and learning. To allow cooperation of heterogeneous vehicles a generic behavior message-passing language is presented.

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Citation Context ...dels of computation. It is not accidental that the emerging global behavior of the group of interacting agents is not a simple juxtaposition of local agent behaviors. As it has been pointed by Wegner =-=[15]-=-, interaction machines (read agents) have richer behavior than Turing machines, and Milner [9] noticed that in a general case concurrent interactive processes cannot be expressed by sequential ones. D... |

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Citation Context .... link and node mobility), and higher-order process algebras can deal with other dynamical aspects (i.e. evolution and learning). In particular, one of representatives of process algebras, $-calculus =-=[4,5,6]-=- has all required operators to deal with concurrency, network reconfiguration, adaptation and cost optimization. $-calculus is a higher-order polyadic process algebra with a quantitative aspect (cost)... |

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Citation Context ...s? • How to integrate purely reactive agent behaviors with deliberative (sense-planact) behaviors? 1 Research supported by grant N00014-96-1-5026 from ONR 1sThe Office of Naval Research SAMON project =-=[10,11]-=- is about autonomous underwater agents. It is developing a hierarchical network of Autonomous Underwater Vehicles (AUVs) for adaptive ocean sampling; to prepare the Web based testbed for integration a... |

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Citation Context ...f the objectives of the SAMON project is to allow the group of vehicles from collaborating institutions to communicate and cooperate. However, existing AUVs (e.g., NPS Phoenix [2], FAU Ocean Explorer =-=[13]-=-) employ incompatible architecture design principles, controller software). It is perhaps too early to enforce a single standard in the AUV design. On the other hand, AUVs are designed to perform simi... |

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Citation Context ...gent Communication One of the objectives of the SAMON project is to allow the group of vehicles from collaborating institutions to communicate and cooperate. However, existing AUVs (e.g., NPS Phoenix =-=[2]-=-, FAU Ocean Explorer [13]) employ incompatible architecture design principles, controller software). It is perhaps too early to enforce a single standard in the AUV design. On the other hand, AUVs are... |

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Citation Context ...s? • How to integrate purely reactive agent behaviors with deliberative (sense-planact) behaviors? 1 Research supported by grant N00014-96-1-5026 from ONR 1sThe Office of Naval Research SAMON project =-=[10,11]-=- is about autonomous underwater agents. It is developing a hierarchical network of Autonomous Underwater Vehicles (AUVs) for adaptive ocean sampling; to prepare the Web based testbed for integration a... |

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Citation Context ...ent for FSMs to be identical with the same number of fixed neighbors seems to be too strong. Cellular automata not having identical transition rules lead to the notion of nonuniform cellular automata =-=[12]-=-. This means that nonuniform cellular automata are not homogeneous. Additionally, if FSMs do not have the same number of neighbors, we obtain random automata networks [7]. Random automata networks are... |

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Citation Context ... to the category of reactive robots (e.g., based on Brooks subsumption architecture [1]), which do not build symbolic model of the world. Robots employing higher-level symbolic reasoning (e.g., GOLOG =-=[14]-=-) can represent the second. To find a 11sproper balance between both ( i.e. when to skip the examine phase in $-calculus) can be achieved also by a learning process. 9.Conclusions. Implementation requ... |