多智能体系统的容错协同任务分配
Fault-tolerant Cooperative Tasking for Multi-agent Systems
AI总结：
针对多智能体系统中事件故障，提出被动性概念并推导出可分解全局任务仍能成功完成的充要条件，实现容错协同任务分配。
摘要：
多智能体系统中协同任务分配的一种自然方式是通过自上而下的设计，将全局任务分解为每个智能体的子任务，使得这些子任务的完成能保证全局任务的实现。在我们之前的工作[1],[2]中，我们提出了协同智能体之间全局任务自动机可分解性的充要条件。作为后续工作，本文处理所提出的自上而下设计方法在多智能体系统中事件故障下的鲁棒性问题。事件故障下的主要关注点是：先前可分解的任务是否仍能被智能体集体完成？如果不能，我们想研究在什么条件下全局任务能够被鲁棒地完成。这实际上是自上而下设计的容错问题，其结果向设计者提示哪些事件对故障是脆弱的，以及是否需要冗余。本文的主要目标是识别故障事件的充要条件，使得可分解的全局任务仍能成功完成。为此，引入了一个称为被动性的概念来表征事件故障的类型。发现被动性反映了共享事件上通信链路的冗余性，基于此推导了事件故障下协同任务分配可靠性的充要条件，并给出了说明性示例和对所推导条件的评论。
英文摘要：
A natural way for cooperative tasking in multi-agent systems is through a top-down design by decomposing a global task into sub-tasks for each individual agent such that the accomplishments of these sub-tasks will guarantee the achievement of the global task. In our previous works [1], [2] we presented necessary and sufficient conditions on the decomposability of a global task automaton between cooperative agents. As a follow-up work, this paper deals with the robustness issues of the proposed top-down design approach with respect to event failures in the multi-agent systems. The main concern under event failure is whether a previously decomposable task can still be achieved collectively by the agents, and if not, we would like to investigate that under what conditions the global task could be robustly accomplished. This is actually the fault-tolerance issue of the top-down design, and the results provide designers with hints on which events are fragile with respect to failures, and whether redundancies are needed. The main objective of this paper is to identify necessary and sufficient conditions on failed events under which a decomposable global task can still be achieved successfully. For such a purpose, a notion called passivity is introduced to characterize the type of event failures. The passivity is found to reflect the redundancy of communication links over shared events, based on which necessary and sufficient conditions for the reliability of cooperative tasking under event failures are derived, followed by illustrative examples and remarks for the derived conditions.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
