Optimizing connected automated vehicle movements through roadway intersections is a challenging problem. Traditional traffic control strategies, such as traffic signals are not optimal, especially for heavy traffic. Alternatively, centralized automated vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is highly questionable. In this research, a series of fully distributed heuristic algorithms are proposed where vehicles in the vicinity of an intersection continuously cooperate with each other to develop a schedule that allows them to safely proceed through the intersection while incurring minimum delays. An algorithm is proposed for the case of an isolated intersection then a number of algorithms are proposed for a network of intersections where neighboring intersections communicate directly or indirectly to help the distributed control at each intersection makes a better estimation of traffic in the whole network. An algorithm based on the Godunov scheme outperformed optimized signalized control. The simulated experiments show significant reductions in the average delay. The base algorithm is successfully added to the INTEGRATION micro-simulation model and the results demonstrate improvements in delay, fuel consumption, and emissions when compared to roundabout, signalized, and stop sign controlled intersections. The study also shows the capability of the proposed technique to favor emergency vehicles, producing significant increases in mobility with minimum delays to the other vehicles in the network. / Ph. D.

Unfavorable environmental and (or) human displacement may engender the need for Search and Rescue (SAR). Challenges such as inaccessibility, large search areas, and heavy reliance on available responder count, limited equipment and training makes SAR a challenging problem. Additionally, SAR operations also pose significant risk to involved responders. This opens a remarkable opportunity for robotic systems to assist and augment human understanding of the harsh environments. A large body of work exists on the introduction of ground and aerial robots in visual and temporal inspection of search areas with varying levels of autonomy. Unfortunately, limited autonomy is the norm in such systems, due to the limitations presented by on-board UAV resources and networking capabilities. In this work we propose a new multi-agent approach to SAR and introduce a wearable compute cluster in the form factor of a backpack. The backpack allows offloading compute intensive tasks such as Lost Person Behavior Modelling, Path Planning and Deep Neural Network based computer vision applications away from the UAVs and offers significantly high performance computers to execute them. The backpack also provides for a strong networking backbone and task orchestrators which allow for enhanced coordination and resource sharing among all the agents in the system. On the basis of our benchmarking experiments, we observe that the backpack can significantly boost capabilities and success in modern SAR responses. / Master of Science / Unfavorable environmental and (or) human displacement may engender the need for Search and Rescue (SAR). Challenges such as inaccessibility, large search areas, and heavy reliance on available responder count, limited equipment and training makes SAR a challenging problem. Additionally, SAR operations also pose significant risk to involved responders. This opens a remarkable opportunity for robotic systems to assist and augment human understanding of the harsh environments. A large body of work exists on the introduction of ground and aerial robots in visual and temporal inspection of search areas with varying levels of autonomy. Unfortunately, limited autonomy is the norm in such systems, due to the limitations presented by on-board UAV resources and networking capabilities. In this work we propose a new multi-agent approach to SAR and introduce a wearable compute cluster in the form factor of a backpack. The backpack allows offloading compute intensive tasks such as Lost Person Behavior Modelling, Path Planning and Deep Neural Network based computer vision applications away from the UAVs and offers significantly high performance computers to execute them. The backpack also provides for a strong networking backbone and task orchestrators which allow for enhanced coordination and resource sharing among all the agents in the system. On the basis of our benchmarking experiments, we observe that the backpack can significantly boost capabilities and success in modern SAR responses.

The security and resiliency of electric power supply to serve critical facilities are of high importance in today's world. Instead of building large electric power grids and high capacity transmission lines, an intelligent microgrid (or smart grid) can be considered as a promising power supply alternative. In recent years, multi-agent systems have been proposed to provide intelligent energy control and management systems in microgrids. Multi-agent systems offer their inherent benefits of flexibility, extensibility, autonomy, reduced maintenance and more. The implementation of a control network based on multi-agent systems that is capable of making intelligent decisions on behalf of the user has become an area of intense research. Many previous works have proposed multi-agent system architectures that deal with buying and selling of energy within a microgrid and algorithms for auction systems. The others proposed frameworks for multi-agent systems that could be further developed for real life control of microgrid systems. However, most proposed methods ignore the process of sharing energy resources among multiple distinct sets of prioritized loads. It is important to study a scenario that emphasizes on supporting critical loads during outages based on the user's preferences and limited capacity. The situation becomes further appealing when an excess DER capacity after supplying critical loads is allocated to support non-critical loads that belong to multiple users. The previous works also ignore the study of dynamic interactions between the agents and the physical systems. It is important to study the interaction and time delay when an agent issues a control signal to control a physical device in a microgrid and when the command is executed. Agents must be able to respond to the information sensed from the external environment quickly enough to manage the microgrid in a timely fashion. The ability of agents to disconnect the microgrid during emergencies should also be studied. These issues are identified as knowledge gaps that are of focus in this thesis. The objective of this research is to design, develop and implement a multi-agent system that enables real-time management of a microgrid. These include securing critical loads and supporting non-critical loads belonging to various owners with the distributed energy resource that has limited capacity during outages. The system under study consists of physical (microgrid) and cyber elements (multi-agent system). The cyber part or the multi-agent system is of primary focus of this work. The microgrid simulation has been implemented in Matlab/Simulink. It is a simplified distribution circuit that consists of one distributed energy resources (DER), loads and the main grid power supply. For the multi-agent system implementation, various open source agent building toolkits are compared to identify the most suitable agent toolkit for implementation in the proposed multi-agent system. The agent architecture is then designed by dividing overall goal of the system into several smaller tasks and assigning them to each agent. The implementation of multi-agent system was completed by identifying Roles (Role Modeling) and Responsibilities (Social and Domain Responsibilities) of agents in the system, and modeling the Knowledge (Facts), rules and ontology for the agents. Finally, both microgrid simulation and multi-agent system are connected together via TCP/IP using external java programming and a third party TCP server in the Matlab/Simulink environment. In summary, the multi-agent system is designed, developed and implemented in several simulation test cases. It is expected that this work will provide an insight into the design and development of a multi-agent system, as well as serving as a basis for practical implementation of an agent-based technology in a microgrid environment. Furthermore, the work also contributes to new design schemes to increase multi-agent system's intelligence. In particular, these include control algorithms for intelligently managing the limited supply from a DER during emergencies to secure critical loads, and at the same time supporting non-critical loads when the users need the most. / Master of Science

One of the major planning problems faced by medium and large manufacturing enterprises is the distribution of production over various (production) facilities. The need for cross-facility capacity management is most evident in the high-tech industries having capital-intensive equipment and short technology life cycle. There have been solutions proposed in the literature that are based on the lagragian decomposition method which separate the overall multiple product problem into a number of single product problems. We believe that multi-agent systems, given their distributed problem solving approach can be used to solve this problem, in its entirety, more effectively. According to other researchers who have worked in this field, auction theoretic mechanisms are a good way to solve complex production planning problems. This research study develops a multi-agent system and negotiation protocol based on combinatorial auction framework to solve the given multi-facility planning problem. The output of this research is a software library, which can be used as a multi-agent system model of the multi-product, multi-facility capacity allocation problem. The negotiation protocol for the agents is based on an iterative combinatorial auction framework which can be used for making allocation decisions in this environment in real-time. A simulator based on this library is created to validate the multi-agent model as well as the auction theoretic framework for different scenarios in the problem domain. The planning software library is created using open source standards so that it can be seamlessly integrated with scheduling library being developed as a part of the Advanced Planning and Scheduling (APS) system project or any other software suite which might require this functionality. The research contribution of this study is in terms of a new multi-agent architecture for an Advanced Planning and Control (APS) system as well as a novel iterative combinatorial auction mechanism which can be used as an agent negotiation protocol within this architecture. The theoretical concepts introduced by this research are implemented in the MultiPlanner production planning tool which can be used for generating master production plans for manufacturing enterprises. The validation process carried out on both the iterative combinatorial framework and the agent-based production planning methodology demonstrate that the proposed solution strategies can be used for integrated decision making in the multi-product, multi-facility production planning domain. Also, the software tool developed as part of this research is a robust, platform independent tool which can be used by manufacturing enterprises to make relevant production planning decisions. / Master of Science

A tecnologia de agentes tem sido reconhecida como um paradigma promissor em sistemas educacionais da nova geração. Entretanto, o esforço e inflexibilidade de algumas metodologias próprias para agentesacarretam num alto custo, tempo e adaptação de escopo. Este trabalho visaavaliar alternativas de desenvolvimento de um jogo educacional médico orientado a agentes, através da aplicação de um estudo de caso, com o intuito de verificar se metodologias próprias para implementação de sistemas multiagentes trazem benefícios no resultado final da implementação do jogo, e também se os resultados alcançados na comparação de processos de desenvolvimento de cunho tradicional e ágil fazem diferença no resultado final. Desta forma, este trabalho compara três metodologias baseadas nos conceitos da Engenharia de Software através de um estudo de caso, sendo elas: O-MaSE que é uma metodologiatradicional de desenvolvimento de sistemas multiagentes e utiliza um processo de desenvolvimento tradicional; AgilePASSI que é baseada no processo de desenvolvimento ágil e específica para sistemas multiagentes; e, por último, Scrum que é uma metodologia ágil, não sendo específica para implementação de sistemas multiagentes / The agent technology has been recognized as a promising paradigm in educational systems of the new generation. However, the effort and inflexibility of some specific methodologies entail a high cost, time and adaptation scope. This work aims to validate options for developing an educational medical game oriented agents by applying an experiment in order to verify that methodologies specific to implement multi-agent systems provide benefits in the result of the implementation of the game, and also the results achieved by comparison of traditional and agile development processes makes a difference in the outcome. Thus, this paper compares three approaches based on the concepts of software engineering through an experiment, as follows: O-MaSE is a traditional methodology for the development of multi-agent systems and uses a traditional development process; AgilePASSI which is based on agile and specific development for multi-agent systems; and finally, Scrum that is an agile methodology, not specific to implementation of multi-agent systems.

A tecnologia de agentes tem sido reconhecida como um paradigma promissor em sistemas educacionais da nova geração. Entretanto, o esforço e inflexibilidade de algumas metodologias próprias para agentesacarretam num alto custo, tempo e adaptação de escopo. Este trabalho visaavaliar alternativas de desenvolvimento de um jogo educacional médico orientado a agentes, através da aplicação de um estudo de caso, com o intuito de verificar se metodologias próprias para implementação de sistemas multiagentes trazem benefícios no resultado final da implementação do jogo, e também se os resultados alcançados na comparação de processos de desenvolvimento de cunho tradicional e ágil fazem diferença no resultado final. Desta forma, este trabalho compara três metodologias baseadas nos conceitos da Engenharia de Software através de um estudo de caso, sendo elas: O-MaSE que é uma metodologiatradicional de desenvolvimento de sistemas multiagentes e utiliza um processo de desenvolvimento tradicional; AgilePASSI que é baseada no processo de desenvolvimento ágil e específica para sistemas multiagentes; e, por último, Scrum que é uma metodologia ágil, não sendo específica para implementação de sistemas multiagentes / The agent technology has been recognized as a promising paradigm in educational systems of the new generation. However, the effort and inflexibility of some specific methodologies entail a high cost, time and adaptation scope. This work aims to validate options for developing an educational medical game oriented agents by applying an experiment in order to verify that methodologies specific to implement multi-agent systems provide benefits in the result of the implementation of the game, and also the results achieved by comparison of traditional and agile development processes makes a difference in the outcome. Thus, this paper compares three approaches based on the concepts of software engineering through an experiment, as follows: O-MaSE is a traditional methodology for the development of multi-agent systems and uses a traditional development process; AgilePASSI which is based on agile and specific development for multi-agent systems; and finally, Scrum that is an agile methodology, not specific to implementation of multi-agent systems.

Dans cette thèse, nous proposons des modèles logiques pour la représentation des croyances et leur changement dans un cadre multi-agent, en insistant sur l'importance de se fixer un point de vue particulier pour la modélisation. A cet égard, nous distinguons deux approches différentes: l'approche externe, où le modélisateur est quelqu'un d'externe à la situation; l'approche interne, où le modélisateur est l'un des agents. Nous proposons une version interne de la logique épistémique dynamique (avec des modèles d'événements), ce qui nous permet de généraliser facilement la théorie de la révision des croyances d'AGM au cas multi-agent. Ensuite, nous mod´elisons les dynamismes logiques complexes qui soustendent notre interprétation des événements en introduisant des probabilités et des infinitésimaux. Finalement, nous proposons un formalisme alternatif qui n'utilise pas de modèle d'événement mais qui introduit à la place un opérateur d'événement inverse.

The High Redundancy Actuator (HRA) project investigates a novel approach to fault tolerant actuation, which uses a high number of small actuation elements, assembled in series and parallel in order to form a single intrinsically fault tolerant actuator. Element faults affect the maximum capability of the overall actuator, but through control techniques, the required performance can be maintained. This allows higher levels of reliability to be attained in exchange for less over-dimensioning in comparison to conventional redundancy techniques. In addition, the combination of both serial and parallel elements provides intrinsic accommodation of both lock-up and loose faults. Research to date has concentrated on HRAs based on electromechanical technology, of relatively low order, controlled through passive Fault Tolerant Control (FTC) methods. The objective of this thesis is to expand upon this work. HRA configurations of higher order, formed from electromagnetic actuators are considered. An element model for a moving coil actuator is derived from first principles and verified experimentally. This element model is then used to form high-order, non-linear HRA models for simulation, and reduced-order representations for control design. A simple, passive FTC law is designed for the HRA configurations, the results of which are compared to a decentralised, active FTC approach applied through a framework based upon multi-agent concepts. The results indicate that limited fault tolerance can be achieved through simple passive control, however, performance degradation occurs, and requirements are not met under theoretically tolerable fault levels. Active FTC offers substantial performance improvements, meeting the requirements of the system under the vast majority of theoretically tolerable fault scenarios. However, these improvements are made at the cost of increased system complexity and a reliance on fault detection. Fault Detection (FD) and health monitoring of the HRA is explored. A simple rule-based FD method, for use within the active FTC, is described and simulated. An interacting multiple model FD method is also examined, which is more suitable for health monitoring in a centralised control scheme. Both of these methods provide the required level of fault information for their respective purposes. However, they achieve this through the introduction of complexity. The rule-based method increases system complexity, requiring high levels of instrumentation, and conversely the interacting multiple model approach involves complexity of design and computation. Finally, the development of a software demonstrator is described. Experimental rigs at the current project phase are restricted to relatively low numbers of elements for practical reasons such as cost, space and technological limitations. Hence, a software demonstrator has been developed in Matlab/Simulink which provides a visual representation of HRAs with larger numbers of elements, and varied configuration for further demonstration of this concept.

Les approches habituelles pour la protection de la privacité s'attachent à définir un niveau de sensibilité pour chaque information. Cette information est soit publique, soit privée et sa circulation est restreinte à un groupe d'agents prédéfini. Dans cette thèse, nous nous appuyons sur la théorie de l'intégrité contextuelle, qui propose de redéfinir la notion de violation de privacité. Selon cette théorie, toute transmission peut déclencher une violation de privacité suivant le contexte dans lequel elle a lieu. Cette thèse utilise la théorie de l'intégrité contextuelle afin de proposer un modèle de protection de la privacité pour les systèmes multi-agents décentralisés: le modèle PrivaCIAS. Afin de contrôler les agents dans le système, le modèle PrivaCIAS fournit un ensemble de normes qui permet la mise en place d'un contrôle social basé sur la confiance. Le modèle donne le contrôle aux agents pour constater les violations (selon l'intégrité contextuelle), puis punir les contrevenants en les excluant du système sans avoir besoin de recourir à une autorité centrale. Ce modèle vise les réseaux sociaux décentralisés comme champ d'application. / Contextual Integrity has been proposed to define privacy in an unusual way. Most approaches take into account a sensitivity level or a ``privacy circle'': the information is said to be either private or public and to be constrained to a given group of agents, \textit{e.g.} ``my friends'', when private. In the opposite, Contextual Integrity states that any information transmitted can make this transmission a privacy violation depending on its context. In this thesis, we use this theory to develop a novel model that one can use in an open and decentralized virtual community to socially enforce privacy. This thesis defines the PrivaCIAS model, in which privacy constraints are formally described to be used to detect privacy violations according to the Contextual Integrity theory. The PrivaCIAS model provides norms to agents in order to make them implement social control. The model does not require a central authority, it gives control to the agents for detecting privacy violations (through Contextual Integrity) and excluding violating agents from the system through social exclusion. This model targets decentralized social networks as a main application domain.

[pt] A abordagem de sistemas auto-organizáveis vem crescendo em relevância e uso no âmbito de sistemas complexos, pois permite o desenvolvimento de sistemas descentralizados que exibem uma dinamicidade e adaptabilidade em consequência de perturbações no ambiente, anteriormente desconhecidas. As principais dificuldades na construção de sistemas auto-organizáveis residem na elaboração de mecanismos de interação e coordenação entre os agentes do ambiente e na falta do reúso de soluções consagradas. Nesse contexto, esta dissertação propõe um framework como solução reutilizável para a construção de sistemas auto-organizáveis descentralizados, baseando-se nos principais padrões arquiteturais encontrados na literatura, proporcionando também um meio de extensibilidade para elaboração de novos mecanismos de interação e coordenação. A partir do framework, instâncias de diversos domínios podem ser criadas, como exemplo, uma solução auto-organizável e descentralizada para os veículos guiados automaticamente, como será apresentada nesta dissertação. / [en] The approach of self-organizing systems has increased in relevance and use within complex domains, for it allows the development of decentralized systems that exhibit a dynamic and adaptable behavior in facing the challenge of handling disturbances in the environment, which were previously unknown. The main difficulties in building self-organizing systems lie in the development of mechanisms of interaction and coordination between the agents of the environment and the lack of reuse of solutions already adopted. In this context, this dissertation proposes a framework as a reusable solution for building decentralized self-organizing systems, based on major architectural patterns found in the literature, and also provide a means of extensibility to develop new mechanisms of interaction and coordination. From the framework, instances of various fields can be created, for example, a self-organizing and decentralized solution to the automated guided vehicles problem, as will be presented in this dissertation.