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MAS Infrastructure. Agents for collaboration in coalition environments. Functional Architecture. Agent Architecture. Four parallel threads : Communicator for conversing with other agents Planner matches “sensory” input and “beliefs” to possible plan actions Scheduler

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MAS Infrastructure

Agents for collaboration in coalition environments

Functional Architecture

Agent Architecture

  • Four parallel threads:
  • Communicator
    • for conversing with other agents
  • Planner
    • matches “sensory” input and “beliefs” to possible plan actions
  • Scheduler
    • schedules “enabled” plans for execution
  • Execution Monitor
    • executes scheduled plan
    • swaps-out plans for those with higher priorities

MAS Interoperation

Translation Services Interoperator Services


Interoperation Modules

Capability to Agent Mapping

Middle Agents

Capability to Agent Mapping

Middle Agent Components

Name to Location Mapping

Agent Name Service

Name to Location Mapping

ANS Component

Adjustable Autonomy for the Battlefield

Cooperative Attack Realtime Assessment (CAMRA)


Certificate Authority Cryptographic Service


Security Module Private/Public Keys

Performance Services

MAS Monitoring Reputation Services

Performance Services

Performance Service Modules

Operational Capability:

We are developing and testing search munition control strategies using both a high fidelity 6-dof simulation of the LOCAAS and medium fidelity 6-dof simulation of an unspecified search munition. We are adapting team oriented programming approaches to provide sophisticated planning and cooperation capabilities to teams of munitions.


Convergent Tools

Multi-Agent Management Services

Logging Activity Visualization Launching

Management Services

Logging and Visualization Components





ACL Infrastructure

Public Ontology Protocol Servers

ACL Infrastructure

Parser, Private Ontology, Protocol Engine

Communications Infrastructure

Discovery Message Transfer

Communication Modules

Discovery Message Transfer Modules

MAS Infrastructure

Individual Agent Infrastructure

Robotic control


Operating Environment

Machines, OS, Network, Multicast Transport Layer, TCP/IP, Wireless, Infrared, SSL





Technical Approach:

We are developing techniques to allow wide area search munitions to cooperate in order to locate and attack targets, perform battle damage assessment, etc.

Control concepts and prototype interfaces to allow humans to control and monitor cooperating search munitions

Search and Rescue Results:





State Info

Telemetry Commands

1. Hardwired Agent Communications

2. ANS Location Registry


“I know who I want to speak with, I just need to find them. The agent I am looking for is in my local domain.”

Agent Name Server ANS)

The ANS is a server that acts as a registry or “white pages” of agents, storing agent names, host machines, and port numbers in its cache. The ANS helps to manage inter-agent communication by providing a mechanism for locating agents.

“I know you, the service you provide, and where you are located.”

In RETSINA, agents known to each other do not need centralized intermediaries to communicate.

State Info


Environment: disaster area


3. ANS Hierarchy Partners

“The agent I am looking for may not be in my local domain, so I will check with the ANS hierarchy partners with whom I am familiar. My partners will forward my request to their known partners, who will search their directories for


4. Multicast Discovery--works best in Local Area Networks (LANs)

“Hello, my name is Agent B and my location is Y.”

5. Agent-to-Agent (A2A)

“I want to find agents, services and infrastructure beyond my LAN. I don’t know who or where these entities are, but I need to look for them across a Wide Area Network (WAN).”

With Multicast Discovery, agent registrations, locations and capabilities are “pushed” to other agents and infrastructure components, which discover each other and avail themselves to each other’s services.

RETSINA A2A technology uses the existing Gnutella P2P network to gather information about agents, services and infrastructure components so that agents may connect across WANs to access each other’s services.

The Intelligent Software Agents LabKatia Sycara, Principal Investigator

Ready-to-use software-integration-web technologies


Effective Coordination of Multiple Intelligent Agents for Command and Control

Information Fusion for Command and Control: from Data to Actionable Knowledge and Decision

AFOSR PRET F49640-01-1-0542

  • Technical Approach:
  • Develop new methods for high level information fusion
  • Level 2: force recognition (recognizing groups)
  • Level 3: inferring intent and threat
  • Level 4: identifying & acquiring needed information
  • Developing simulation, display, and infrastructure for human-system interaction research
  • Conducting verification and validation studies with human users

Operational Capability:

We have developed a suite of interacting tools using the OTB military simulation and the Unreal engine that allow us to simulate the warfighter’s environment anywhere on the battlefield. By combining ISR data, human communications, and realistic tasks we can test and evaluate conops and technologies for network centric warfare. Without the complexity allowed by these networked tools it would be impossible to test our research hypotheses involving active annunciation and information filtering and distribution.

Simulation tools developed in this project have already been transitioned to AFRL and ARL laboratories and are in use at universities here and in Europe.

Automatically generated by CMU’s terrain analysis software

Subject Matter Expert’s MCOO (Modified Combined Obstacle Overlay)

Agents construct and evaluate plans based on multi-dimensional effects and interactions among effects.

USARUrban Search and Rescue

  • The RETSINA MAS Provides:
  • Dynamic team coordination, supporting teamwork between entities of varying capabilities;
  • Adjustable Autonomyfor adaptively sharing control, responsibilities, and commitments at all task abstraction levels and by all types of team members (agents, robots, people);
  • Abstraction-based tiered robot architecturethat consists of incremental functional abstractions with real-time behavior based controllers at the lowest level, executive near-term explicit reasoning and scheduling at the middle level, and declarative planning and communication at the top level;
  • Scalability to larger or smaller numbers of robotic and software agents without affecting the team goal through loss of coordination, etc.

Project Goal:

To develop hybrid teams of autonomous heterogeneous agents—including cyber agents, robots, and humans—that intelligently coordinate and plan to accomplish urban search and rescue in disaster situations. We envision a Multi-Agent System (MAS) in which humans, agents, and robots work together seamlessly to provide aid as quickly and safely as possible in the event of an urban disaster.