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The solution

The solution. The better team (Sam, Nedeljko , Carlos, Thomas, Regina, Naeem ). What are the types of adaptations?. Two types of adaptation 1) Domain-specific (application-specific) Reassignment of robots to different teams If a leader crashes, another leader is selected

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The solution

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  1. The solution The better team (Sam, Nedeljko, Carlos, Thomas, Regina, Naeem)

  2. What are the types of adaptations? • Two types of adaptation 1) Domain-specific (application-specific) • Reassignment of robots to different teams • If a leader crashes, another leader is selected 2) Updating the application logic of the robot • Instead of organizing the chairs in a room, vacuum the room • When a software component deployed on a robot crashes, re-instantiate it

  3. What are the goals? • Domain-specific goals • Setup the room as fast as possible • Setup the room as clean as possible • Adaptation goals • Depend on domain-specific goals • Fix (re-instantiate) a failed software component on a robot as fast as possible • Conflicting goals are handled through utility functions

  4. The general architectural style • Setup feedback control loops and coordination/communication mechanisms that are • Hierarchical • Scalability of communication and control • Peer-to-peer within each layer of the hierarchy • Fault-tolerance, robustness, etc. • Regularity principles • Roles: leaders, slaves, etc. • Communication follows the structure of organization • Recursively hierarchical • The number of layers is itself a tunable parameter

  5. General (logical) organization

  6. How to represent knowledge? • A cyber-physical model of • Rooms, robots, chairs, status of those elements, etc. • Consistency • Broadcasting state to all members within each group • Leader selectively shares appropriate info with other leaders • Guarantee • If a leader dies, another group member becomes the leader without losing state

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