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From: <ga...@us...> - 2008-04-25 13:29:43
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Revision: 1258
http://jason.svn.sourceforge.net/jason/?rev=1258&view=rev
Author: gauth
Date: 2008-04-25 06:29:38 -0700 (Fri, 25 Apr 2008)
Log Message:
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Documentation on role dynamics
Added Paths:
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trunk/applications/jason-team/doc/roles/
trunk/applications/jason-team/doc/roles/ac2008-roles.aux
trunk/applications/jason-team/doc/roles/ac2008-roles.pdf
trunk/applications/jason-team/doc/roles/ac2008-roles.tex
trunk/applications/jason-team/doc/roles/figures/
trunk/applications/jason-team/doc/roles/figures/exploration-positioning.eps
trunk/applications/jason-team/doc/roles/figures/exploration-positioning.odg
trunk/applications/jason-team/doc/roles/figures/exploration-positioning.pdf
trunk/applications/jason-team/doc/roles/figures/jason-team-SS.eps
trunk/applications/jason-team/doc/roles/figures/jason-team-SS.pdf
trunk/applications/jason-team/doc/roles/figures/partition.eps
trunk/applications/jason-team/doc/roles/figures/partition.odg
trunk/applications/jason-team/doc/roles/figures/partition.pdf
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+\relax
+\@writefile{toc}{\contentsline {title}{Role Dynamics in the \emph {Jason} Team}{1}}
+\@writefile{toc}{\contentsline {author}{Rafael H. Bordini{$^\star $} \and Jomi F. H{\" u}bner{$^\dagger $} \and Gauthier Picard{$^\dagger $}}{1}}
+\@writefile{toc}{\contentsline {section}{\numberline {1}Introduction}{1}}
+\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Role and group structures}}{2}}
+\newlabel{fig:groups}{{1}{2}}
+\@writefile{toc}{\contentsline {section}{\numberline {2}Exploration}{2}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Pairs formation}{2}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Environment partitioning}{2}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.3}Role assignment}{2}}
+\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Environment partitioning}}{3}}
+\newlabel{fig:partition}{{2}{3}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.4}Explorer role playing}{3}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.5}Scout role playing}{3}}
+\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Position of the \textsf {scout} relatively to the \textsf {explorer} during exploration phase}}{4}}
+\newlabel{fig:position}{{3}{4}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.6}Tracker role playing}{4}}
+\newlabel{sec:tracker-role-playing}{{2.6}{4}}
+\@writefile{toc}{\contentsline {section}{\numberline {3}Herding}{5}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Herder role playing}{5}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Herdboy role playing}{6}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}Ranger role playing}{6}}
+\@writefile{toc}{\contentsline {section}{\numberline {4}TODO list}{6}}
Property changes on: trunk/applications/jason-team/doc/roles/ac2008-roles.aux
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Added: trunk/applications/jason-team/doc/roles/ac2008-roles.tex
===================================================================
--- trunk/applications/jason-team/doc/roles/ac2008-roles.tex (rev 0)
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+
+%%%%%%%%%%%%%%%%%%%%%%% file typeinst.tex %%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% This is the LaTeX source for the instructions to authors using
+% the LaTeX document class 'llncs.cls' for contributions to
+% the Lecture Notes in Computer Sciences series.
+% http://www.springer.com/lncs Springer Heidelberg 2006/05/04
+%
+% It may be used as a template for your own input - copy it
+% to a new file with a new name and use it as the basis
+% for your article.
+%
+% NB: the document class 'llncs' has its own and detailed documentation, see
+% ftp://ftp.springer.de/data/pubftp/pub/tex/latex/llncs/latex2e/llncsdoc.pdf
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+\documentclass[runningheads]{llncs}
+
+\usepackage{amssymb}
+\setcounter{tocdepth}{3}
+\usepackage{graphicx}
+\usepackage[latin1]{inputenc}
+\usepackage{color}
+%\usepackage{txfonts}
+
+\usepackage{url}
+\urldef{\mailsa}\path|R.B...@du...|
+\urldef{\mailsb}\path|{hubner,picard}@emse.fr|
+\newcommand{\keywords}[1]{\par\addvspace\baselineskip
+\noindent\keywordname\enspace\ignorespaces#1}
+
+\newcommand{\comment}[2]{\noindent\textsf{
+ \begin{center}
+ \colorbox[rgb]{.8,.8,.8}{
+ \begin{minipage}{.95\columnwidth}
+ {{#1 :}} \\ {#2}
+ \end{minipage}
+ }
+ \end{center}
+ }
+}
+
+\newcommand{\ascomment}[1]{\comment{\emph{AgentSpeak}}{#1}}
+
+\begin{document}
+
+\mainmatter % start of an individual contribution
+
+% first the title is needed
+\title{Role Dynamics in the \emph{Jason} Team}
+\subtitle{Agent Contest 2008}
+% a short form should be given in case it is too long for the running head
+\titlerunning{Jason Team's Role Dynamics}
+
+% the name(s) of the author(s) follow(s) next
+%
+% NB: Chinese authors should write their first names(s) in front of
+% their surnames. This ensures that the names appear correctly in
+% the running heads and the author index.
+%
+\author{Rafael H. Bordini{$^\star$} \and Jomi F. H{\" u}bner{$^\dagger$} \and Gauthier Picard{$^\dagger$}}
+%
+\authorrunning{Bordini, H\"ubner and Picard}
+% (feature abused for this document to repeat the title also on left hand pages)
+
+% the affiliations are given next; don't give your e-mail address
+% unless you accept that it will be published
+\institute{
+{$^\star$}~University of Durham, UK\\
+\mailsa\\
+{$^\dagger$}~\'Ecole des Mines de Saint-\'Etienne, France\\
+\mailsb\\
+% \mailsc\\
+\url{http://jason.sourceforge.net/}}
+
+%
+% NB: a more complex sample for affiliations and the mapping to the
+% corresponding authors can be found in the file "llncs.dem"
+% (search for the string "\mainmatter" where a contribution starts).
+% "llncs.dem" accompanies the document class "llncs.cls".
+%
+
+%\toctitle{Lecture Notes in Computer Science}
+%\tocauthor{Authors' Instructions}
+\maketitle
+
+
+\begin{abstract}
+This document presents the main ideas concerning the dynamics of the role within the \emph{Jason} team. An agent's life cycle is decomposed into two phases: \emph{exploration} and \emph{herding}. During each of these two phases, an agent will play different roles according to the context (cluster size, number of herders, etc.).
+
+\keywords{Jason, organisation, roles}
+\end{abstract}
+
+
+\section{Introduction}
+
+As to remind the roles identified in the AC 2008 proposal we made, Figure \ref{fig:groups} presenting the group structure in the \emph{Jason} team.
+
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=0.8\columnwidth]{figures/jason-team-SS.pdf}
+ \caption{Role and group structures}
+ \label{fig:groups}
+\end{figure}
+
+Here is a reminder of the specific roles:
+
+\begin{itemize}
+\item \textit{guard}: guards the corral so as to keep the herded cows
+ safe inside it;
+% exploration group roles
+\item \textit{explorer}: explore the environment until it detects a cow;
+\item \textit{scout}: follows the explorer;
+\item \textit{tracker}: once a cow is detected, tracks all cows of a cluster
+ so as to evaluate its size;
+ % \item \textit{perturbator}: perturbs the other team (only triggered if the
+ % other team is not fairplay),
+
+% hersing group roles
+\item \textit{herder}: herds the cows detected by explorer to reach
+ the corral (since they move quicker than cows, they can also
+ continue to explore around the cluster);
+\item \textit{herdboy}: helps the herder to lead cows to the corral;
+\item \textit{ranger}: finds the ``best'' path to the corral.
+\end{itemize}
+
+Actually, an agent will follow a simple life cycle: exploration, herding, exploration, herding, etc. During these phases the agent will play some roles depending on the perception form the environment and its group.
+
+The following section present these two phases in detail.
+
+\section{Exploration}
+
+\subsection{Pairs formation}
+
+At the begin of the simulation, agents form pairs (so 3 pairs for a simulation). If during the simulation, an agent is exploring alone (only during the its exploration phase), it will try to find a partner.
+
+\subsection{Environment partitioning}
+
+Each pair is assigned to a specific area of the environment. This partition is
+chosen according to the agents' positions. As to simplify this partition, we
+choose to settle it as shown in figure~\ref{fig:partition}.
+
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=0.6\columnwidth]{figures/partition.pdf}
+ \caption{Environment partitioning}
+ \label{fig:partition}
+\end{figure}
+
+This can be improved by computing the partition according to the position of the coral.
+
+\subsection{Role assignment}
+
+An exploration group can be composed of 1 or 2 agents. If it is a 1-agent group, the only agent plays the role \textsf{explorer}. If it is a 2-agent group, one agent plays the role \textsf{explorer} (the agent farest form the coral), the second one plays the role \textsf{scout}. During these role playings, each agent shares its perceptions with its partner.
+
+\ascomment{}
+
+\subsection{Explorer role playing}
+
+The tasks of the \textsf{explorer} are quite simple:
+\begin{enumerate}
+\item choose a target position: the near position which is least visited within its partition,
+\item compute a path to the target position, using $A^\star$ algorithm,
+\item move along the computed path.
+\end{enumerate}
+
+This role playing ends as soon as the \textsf{explorer} perceives a cow.
+
+\ascomment{}
+
+\subsection{Scout role playing}
+
+The role of the \textsf{scout} is to help the \textsf{explorer} to find
+cows. As to maximize the number of visited cells, the scout must be positioned
+at a distance equal to the double of the perception distance of agents relatively to the
+\textsf{explorer}, orthogonally to the direction of the target position from
+the viewpoint of the \textsf{explorer} (figure~\ref{fig:position})
+
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=.4\columnwidth]{figures/exploration-positioning.pdf}
+ \caption{Position of the \textsf{scout} relatively to the \textsf{explorer} during exploration phase}
+ \label{fig:position}
+\end{figure}
+
+This requires some coordination with the \textsf{explorer}:
+\begin{itemize}
+\item the \textsf{explorer} informs the \textsf{scout} of its next target position and its own position (in case the \textsf{scout} does not perceive it),
+\item the \textsf{scout} compute its next target position.
+\end{itemize}
+
+But before that, the \textsf{scout} must move towards the \textsf{explorer} until it perceives it.
+
+This role playing ends as soon as the \textsf{explorer} (which is now a \textsf{tracker}) a \textsf{herder}, as to begin the herding phase.
+
+\ascomment{}
+
+\subsection{Tracker role playing}
+\label{sec:tracker-role-playing}
+
+Once the \textsf{explorer} perceives a cow, it plays the \textsf{tracker} role which aims at evaluating the size of the cluster of cows. The \textsf{tracker} does the following tasks:
+\begin{enumerate}
+\item compute the next target position: a position at the opposite of the coral position according the center of the cluster,
+\item circle the coral as to reach the target position,
+\item count the perceived cows until it reaches the target position (maintaining a counter $\mathrm size$),
+\item once the target position is reached, decide whether the group must split, grow or remain as it is, with respect to the following rules:
+\begin{itemize}
+\item if ($\mathrm{size} \leq \tau < \tau_{\mathrm{max}}$) then split the group: one \textsf{herder} is sufficient to herd the cluster to the coral; the \textsf{scout} plays now the \textsf{explorer} role,
+\item if ($\tau < \mathrm{size} \leq \tau_{\mathrm{max}}$) then the group is kept: the two agents are sufficient; the \textsf{explorer} plays now the \textsf{herder} role and the \textsf{scout} now plays the \textsf{herdboy} role,
+\item if ($\tau < \tau_{\mathrm{max}} < \mathrm{size}$) then the group must recruit nearest \textsf{explorer} agents or negotiate with other \textsf{herder} agents to recruit \textsf{herdboy} agents.
+\end{itemize}
+\end{enumerate}
+
+Negotiation between \textsf{herders} will depends on:
+\begin{itemize}
+\item the sizes of the respective clusters,
+\item the distance between the agents to recruit and the recruiting agent.
+\end{itemize}
+
+At the end of this role playing, the \textsf{explorer} is positioned so as to have the cluster between itself and the coral. In this position, it only has to move to the coral to ``push'' the cluster in the good direction.
+
+During this phase, the \textsf{scout} continues to play this role.
+
+\ascomment{}
+
+\section{Herding}
+
+This phase starts as soon as a \textsf{tracker} becomes a \textsf{herder}. At the same moment, the \textsf{scout} becomes either a \textsf{herdboy} or an \textsf{explorer}, depending on the size of the cluster.
+
+\subsection{Herder role playing}
+
+The role of a \textsf{herder} is to guide a cluster to the coral. As said before, the cluster (its center) is positioned between the \textsf{herder} and the coral.
+
+Mainly, the tasks for a \textsf{herder} are:
+\begin{enumerate}
+\item update the size of the cluster\footnote{necessary to detect whether a cluster is too big},
+\item recruit if necessary (see section \ref{sec:tracker-role-playing}),
+\item compute the center of the cluster,
+\item compute the target position with respect of the position of the coral and the center of the cluster,
+\item compute the path to reach this position by using $A^\star$,
+\item compute its next position according to the previous information,
+\item inform its \textsf{herdboys} of this position,
+\item compute the path to the next position using $A^\star$,
+\item move to its next position.
+\end{enumerate}
+
+\ascomment{}
+
+We can identify some \textbf{exceptions}:
+\begin{itemize}
+\item \textbf{immobile cluster}: if the cluster does not move for $t_{\mathrm max}$ steps, the \textsf{herder} must change its target direction by adding an $\alpha$ angle to the direction.
+\item \textbf{two clusters meet}: if two clusters start to merge, \textsf{herders} must decide whether the cluster must merge or not. This implies negotiation between the two agents depending on the total size of the cluster.
+\item \textbf{cluster too big}: if the cluster $\mathrm{size} > \tau_{\mathrm
+ supermax} (\tau_{\mathrm supermax} > \tau_{\mathrm max})$, it must split into two clusters. As to do this, the \textsf{herder} go to the center of the cluster as to create a breach in the cluster (and becomes then \textsf{ranger}). New \textsf{herders} must be chosen among the \textsf{herdboys} for the new clusters. The \textsf{ranger} becomes an \textsf{explorer} as to be easily recruited by the new \textsf{herders}.
+\end{itemize}
+
+\ascomment{}
+
+\subsection{Herdboy role playing}
+
+The \textsf{herdboy} role is quite simple: it helps the \textsf{herder} to herd a cluster to the coral. \textsf{Herdboys} are led by one \textsf{herder}. Once a \textsf{herder} begins to herd a cluster to the coral, some \textsf{herdboys} may help it to achieve this task.
+
+\textsf{Herdboys}' tasks are:
+\begin{enumerate}
+\item detect close clusters, as to decide whether they merge or not,
+\item compute its next position thanks to information coming from its \textsf{herder}: each \textsf{herdboy} moves to a position near the \textsf{herder} around the cluster. E.g. if the \textsf{herder} is on the line from coral to cluster, the first \textsf{herdboy} position itself on a line at 10\xB0 left from the \textsf{herder}'s position, the second one on a line at 10\xB0 right, etc.
+\item compute the path to the next position using $A^\star$,
+\item move the next position.
+\end{enumerate}
+
+If the cluster too big exception occurs, \textsf{herdboys} must try to enter in the breach created by the \textsf{herder} to help the cluster splitting.
+
+\ascomment{}
+
+\subsection{Ranger role playing}
+
+The \textsf{ranger}'s role is to create a breach inside a big cluster to create two separate cluster. Once it is done, it becomes an \textsf{explorer}.
+The idea is to split the cluster by letting the cows move by side, since herdboys move to the position of the ranger and do not constrain cows anymore.
+Once it is done, the side of the cluster are free, and cows can move by side.
+It leads \textsf{herdboys} during this stage.
+
+\textsf{Ranger}'s tasks are:
+\begin{enumerate}
+\item inform \textsf{herdboys} they have to move to its position around the cluster,
+\item compute its next target position: the point at the opposite of its current position according to the center of the cluster,
+\item compute the path to this position using $A^\star$,
+\item move to the next position.
+\end{enumerate}
+
+\ascomment{}
+
+\section{TODO list}
+
+\begin{enumerate}
+\item add \emph{AgentSpeak} specification for each role
+\item specify the dynamic role-chart with roles and triggers to sum up the role dynamics
+\end{enumerate}
+
+\end{document}
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