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Multi-Agent Systems: Overview and Research Directions. CMSC 471 December 1 and 3, 2009 Prof. Marie desJardins. Outline. What’s an Agent? Multi-Agent Systems Cooperative multi-agent systems Competitive multi-agent systems MAS Research Directions Organizational structures

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Multi agent systems overview and research directions

Multi-Agent Systems:Overview and Research Directions

CMSC 471

December 1 and 3, 2009

Prof. Marie desJardins


  • What’s an Agent?

  • Multi-Agent Systems

    • Cooperative multi-agent systems

    • Competitive multi-agent systems

  • MAS Research Directions

    • Organizational structures

    • Communication limitations

    • Learning in multi-agent systems

What s an agent1
What’s an agent?

  • Weiss, p. 29 [after Wooldridge and Jennings]:

    • “An agent is a computer system that is situated in some environment, and that is capable of autonomous action in this environment in order to meet its design objectives.”

  • Russell and Norvig, p. 7:

    • “An agent is just something that perceives and acts.”

  • Rosenschein and Zlotkin, p. 4:

    • “The more complex the considerations that [a] machine takes into account, the more justified we are in considering our computer an ‘agent,’ who acts as our surrogate in an automated encounter.”

What s an agent ii
What’s an agent? II

  • Ferber, p. 9:

    • “An agent is a physical or virtual entity

      • Which is capable of acting in an environment,

      • Which can communicate directly with other agents,

      • Which is driven by a set of tendencies…,

      • Which possesses resources of its own,

      • Which is capable of perceiving its environment…,

      • Which has only a partial representation of this environment…,

      • Which possesses skills and can offer services,

      • Which may be able to reproduce itself,

      • Whose behavior tends towards satisfying its objectives, taking account of the resources and skills available to it and depending on its perception, its representations and the communications it receives.”

Ok so what s an environment
OK, so what’s an environment?

  • Isn’t any system that has inputs and outputs situated in an environment of sorts?

What s autonomy anyway
What’s autonomy, anyway?

  • Jennings and Wooldridge, p. 4:

    • “[In contrast with objects, we] think of agents as encapsulating behavior, in addition to state. An object does not encapsulate behavior: it has no control over the execution of methods – if an object x invokes a method m on an object y, then y has no control over whether m is executed or not – it just is. In this sense, object y is not autonomous, as it has no control over its own actions…. Because of this distinction, we do not think of agents as invoking methods (actions) on agents – rather, we tend to think of them requesting actions to be performed. The decision about whether to act upon the request lies with the recipient.”

  • Is an if-then-else statement sufficient to create autonomy?

So now what
So now what?

  • If those definitions aren’t useful, is there a useful definition? Should we bother trying to create “agents” at all?

Multi agent systems1
Multi-agent systems

  • Jennings et al.’s key properties:

    • Situated

    • Autonomous

    • Flexible:

      • Responsive to dynamic environment

      • Pro-active / goal-directed

      • Social interactions with other agents and humans

  • Research questions: How do we design agents to interact effectively to solve a wide range of problems in many different environments?

Aspects of multi agent systems
Aspects of multi-agent systems

  • Cooperative vs. competitive

  • Homogeneous vs. heterogeneous

  • Macro vs. micro

  • Interaction protocols and languages

  • Organizational structure

  • Mechanism design / market economics

  • Learning

Topics in multi agent systems
Topics in multi-agent systems

  • Cooperative MAS:

    • Distributed problem solving: Less autonomy

    • Distributed planning: Models for cooperation and teamwork

  • Competitive or self-interested MAS:

    • Distributed rationality: Voting, auctions

    • Negotiation: Contract nets

Typical cooperative mas domains
Typical (cooperative) MAS domains

  • Distributed sensor network establishment

  • Distributed vehicle monitoring

  • Distributed delivery

Distributed sensing
Distributed sensing

  • Track vehicle movements using multiple sensors

  • Distributed sensor network establishment:

    • Locate sensors to provide the best coverage

    • Centralized vs. distributed solutions

  • Distributed vehicle monitoring:

    • Control sensors and integrate results to track vehicles as they move from one sensor’s “region” to another’s

    • Centralized vs. distributed solutions

Distributed delivery
Distributed delivery

  • Logistics problem: move goods from original locations to destination locations using multiple delivery resources (agents)

  • Dynamic, partially accessible, nondeterministic environment (goals, situation, agent status)

  • Centralized vs. distributed solution

Distributed problem solving planning
Distributed problem solving/planning

  • Cooperative agents, working together to solve complex problems with local information

  • Partial Global Planning (PGP): A planning-centric distributed architecture

  • SharedPlans: A formal model for joint activity

  • Joint Intentions: Another formal model for joint activity

  • STEAM: Distributed teamwork; influenced by joint intentions and SharedPlans

Distributed problem solving
Distributed problem solving

  • Problem solving in the classical AI sense, distributed among multiple agents

    • That is, formulating a solution/answer to some complex question

    • Agents may be heterogeneous or homogeneous

    • DPS implies that agents must be cooperative (or, if self-interested, then rewarded for working together)

Requirements for cooperative activity
Requirements for cooperative activity

  • (Grosz) -- “Bratman (1992) describes three properties that must be met to have ‘shared cooperative activity’:

    • Mutual responsiveness

    • Commitment to the joint activity

    • Commitment to mutual support”

Joint intentions
Joint intentions

  • Theoretical framework for joint commitments and communication

  • Intention: Commitment to perform an action while in a specified mental state

  • Joint intention: Shared commitment to perform an action while in a specified group mental state

  • Communication: Required/entailed to establish and maintain mutual beliefs and join intentions


  • SharedPlan for group action specifies beliefs about how to do an action and subactions

  • Formal model captures intentions and commitments towards the performance of individual and group actions

  • Components of a collaborative plan (p. 5):

    • Mutual belief of a (partial) recipe

    • Individual intentions-to perform the actions

    • Individual intentions-that collaborators succeed in their subactions

    • Individual or collaborative plans for subactions

  • Very similar to joint intentions

Steam now we re getting somewhere
STEAM: Now we’re getting somewhere!

  • Implementation of joint intentions theory

    • Built in Soar framework

    • Applied to three “real” domains

    • Many parallels with SharedPlans

  • General approach:

    • Build up a partial hierarchy of joint intentions

    • Monitor team and individual performance

    • Communicate when need is implied by changing mental state & joint intentions

  • Key extension: Decision-theoretic model of communication selection

Distributed rationality
Distributed rationality

  • Techniques to encourage/coax/force self-interested agents to play fairly in the sandbox

  • Voting: Everybody’s opinion counts (but how much?)

  • Auctions: Everybody gets a chance to earn value (but how to do it fairly?)

  • Contract nets: Work goes to the highest bidder

  • Issues:

    • Global utility

    • Fairness

    • Stability

    • Cheating and lying

Pareto optimality
Pareto optimality

  • S is a Pareto-optimal solution iff

    • S’ (x Ux(S’) > Ux(S) → y Uy(S’) < Uy(S))

    • i.e., if X is better off in S’, then some Y must be worse off

  • Social welfare, or global utility, is the sum of all agents’ utility

    • If S maximizes social welfare, it is also Pareto-optimal (but not vice versa)

Which solutions

are Pareto-optimal?

Y’s utility

Which solutions

maximize global utility

(social welfare)?

X’s utility


  • If an agent can always maximize its utility with a particular strategy (regardless of other agents’ behavior) then that strategy is dominant

  • A set of agent strategies is in Nash equilibrium if each agent’s strategy Si is locally optimal, given the other agents’ strategies

    • No agent has an incentive to change strategies

    • Hence this set of strategies is locally stable

Prisoner s dilemma
Prisoner’s Dilemma

Let's play!



Prisoner s dilemma analysis
Prisoner’s Dilemma: Analysis

  • Pareto-optimal and social welfare maximizing solution: Both agents cooperate

  • Dominant strategy and Nash equilibrium: Both agents defect



  • Why?


  • How should we rank the possible outcomes, given individual agents’ preferences (votes)?

  • Six desirable properties (which can’t all simultaneously be satisfied):

    • Every combination of votes should lead to a ranking

    • Every pair of outcomes should have a relative ranking

    • The ranking should be asymmetric and transitive

    • The ranking should be Pareto-optimal

    • Irrelevant alternatives shouldn’t influence the outcome

    • Share the wealth: No agent should always get their way 

Voting protocols
Voting protocols

  • Plurality voting: the outcome with the highest number of votes wins

    • Irrelevant alternatives can change the outcome: The Ross Perot factor

  • Borda voting: Agents’ rankings are used as weights, which are summed across all agents

    • Agents can “spend” high rankings on losing choices, making their remaining votes less influential

  • Binary voting: Agents rank sequential pairs of choices (“elimination voting”)

    • Irrelevant alternatives can still change the outcome

    • Very order-dependent


  • Many different types and protocols

  • All of the common protocols yield Pareto-optimal outcomes

  • But… Bidders can agree to artificially lower prices in order to cheat the auctioneer

  • What about when the colluders cheat each other?

    • (Now that’s really not playing nicely in the sandbox!)

Contract nets
Contract nets

  • Simple form of negotiation

  • Announce tasks, receive bids, award contracts

  • Many variations: directed contracts, timeouts, bundling of contracts, sharing of contracts, …

  • There are also more sophisticated dialogue-based negotiation models

Agent organizations
Agent organizations

  • “Large-scale problem solving technologies”

  • Multiple (human and/or artificial) agents

  • Goal-directed (goals may be dynamic and/or conflicting)

  • Affects and is affected by the environment

  • Has knowledge, culture, memories, history, and capabilities (distinct from individual agents)

  • Legal standing is distinct from single agent

  • Q: How are MAS organizations different from human organizations?

Organizational structures
Organizational structures

  • Exploit structure of task decomposition

    • Establish “channels of communication” among agents working on related subtasks

  • Organizational structure:

    • Defines (or describes) roles, responsibilities, and preferences

    • Use to identify control and communication patterns:

      • Who does what for whom: Where to send which task announcements/allocations

      • Who needs to know what: Where to send which partial or complete results

Communication models
Communication models

  • Theoretical models: Speech act theory

  • Practical models:

    • Shared languages like KIF, KQML, DAML

    • Service models like DAML-S

    • Social convention protocols

Communication strategies
Communication strategies

  • Send only relevant results at the right time

    • Conserve bandwidth, network congestion, computational overhead of processing data

    • Push vs. pull

    • Reliability of communication (arrival and latency of messages)

    • Use organizational structures, task decomposition, and/or analysis of each agent’s task to determine relevance

Communication structures
Communication structures

  • Connectivity (network topology) strongly influences the effectiveness of an organization

  • Changes in connectivity over time can impact team performance:

    • Move out of communication range  coordination failures

    • Changes in network structure  reduced (or increased) bandwidth, increased (or reduced) latency

Learning in mas
Learning in MAS

  • Emerging field to investigate how teams of agents can learn individually and as groups

  • Distributed reinforcement learning: Behave as an individual, receive team feedback, and learn to individually contribute to team performance

  • Distributed reinforcement learning: Iteratively allocate “credit” for group performance to individual decisions

  • Genetic algorithms: Evolve a society of agents (survival of the fittest)

  • Strategy learning: In market environments, learn other agents’ strategies

Adaptive organizational dynamics
Adaptive organizational dynamics

  • Potential for change:

    • Change parameters of organization over time

    • That is, change the structures, add/delete/move agents, …

  • Adaptation techniques:

    • Genetic algorithms

    • Neural networks

    • Heuristic search / simulated annealing

    • Design of new processes and procedures

    • Adaptation of individual agents

Conclusions and directions
Conclusions and directions

  • “Agent” means many different things

  • Different types of “multi-agent systems”:

    • Cooperative vs. competitive

    • Heterogeneous vs. homogeneous

    • Micro vs. macro

  • Lots of interesting/open research directions:

    • Effective cooperation strategies

    • “Fair” coordination strategies and protocols

    • Learning in MAS

    • Resource-limited MAS (communication, …)