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Save the Gulf (stream)

Save the Gulf (stream). Functional Goal: Minimize oil leaks Sub-goals Performance: Maximize area covered. Fault-tolerance How: Search, recruit, and cap Elements Robots, sensors for detecting oil leaks. Actuators to cap (part of) a leak Self-Adaptive Behavior (context driven)

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Save the Gulf (stream)

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  1. Save the Gulf (stream) • Functional Goal: Minimize oil leaks • Sub-goals • Performance: Maximize area covered. • Fault-tolerance • How: Search, recruit, and cap • Elements • Robots, sensors for detecting oil leaks. Actuators to cap (part of) a leak • Self-Adaptive Behavior (context driven) • Search phase (individual) • Recruitment phase (Cooperate to help cap a large leak) • Capping phase (cooperative)

  2. Search • First, smart dust is spread around the environment of the oil leaks. • Agents then engage in one of 3 types of behavior to cap the leak: search, recruit, cap. • Default behavior is to search. • Search is implemented using decentralized coordination using inverted pheromones. • Robots avoid areas already searched by other robots. Pheromones evaporate, so areas that may leak later or if a capping breaks are searched more than once.

  3. Recruit and Cap • When a robot discovers a leak, it checks to see if it can cap it by itself. If it is too large, it tries to recruit other nodes to help. • Wireless communication is limited, and there is no GPS, so robots use pheromones to find dynamic meeting places where they recruit other robots. • Robots have to periodically switch to recruit mode to follow pheromones to dynamic meeting places. • Meeting places are determined by the areas of highest pheromone concentration – determined dynamically as areas with most leaks. • Auction algorithm for recruitment to cap different leaks

  4. Evaluation • Search – Baseline coordination behaviour is Random • Inverted pheromones should easily outperform • Recruit and cap – Baseline coordination behavior is static meeting places • Pheromones to determine dynamic meeting places -> meeting places where the oil leaks are located.

  5. MAPE Architecture Mode Behavior Environment

  6. Danny Boy’s Goals • Conflicts • Two nodes search the same area -> Inverted pheromones • Coordination mechanisms • Indirect (inverted/normal pheromones) • Direct (radio comms between robots) • Guarantees • Convergence properties via simulation • Information • Direct and indirect communication of robot behaviours and oil leak locations • Inherently fault tolerant

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