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3D Spatial Layout using A-Teams

3D Spatial Layout using A-Teams. How Asynchronous Teams of Autonomous Specialized Agents can Solve Problems with Multiple Objectives and Constraints Sanjay Sachdev, Christiaan J.J. Paredis, Satyandra K. Gupta, Sarosh Talukdar Carnegie Mellon University

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3D Spatial Layout using A-Teams

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  1. 3D Spatial Layoutusing A-Teams How Asynchronous Teams of Autonomous Specialized Agents can Solve Problems with Multiple Objectives and Constraints Sanjay Sachdev, Christiaan J.J. Paredis, Satyandra K. Gupta, Sarosh Talukdar Carnegie Mellon University work sponsored by DARPA RaDEO program and CMU

  2. Overview • Goal • 3D Spatial Layout of Electromechanical Artifacts • Approach • Combine Simple Specialized Heuristics for Complex Tasks • Reorganize Teams for Different Tasks • Impact • Improved problem solving ability

  3. Seeker Design Project

  4. A/D CONVERTER 1 AMPLIFIER 2 CAMERA MICROPROCESSOR AMPLIFIER 1 DSP VOLTAGE STABILIZER SERIAL CONNECTOR HOUSING A/D CONVERTER 2 PARALLEL CONNECTOR Problem Definition Constraints: ACCESSIBILITY CONNECTIVITY SEPARATION

  5. Approach • Simple Problem  Simple Solver • Combine Simple Problems  Complex Problem • Combine Simple Solvers  Solve Complex Problems • Benefits: modularity  extensibility, reconfigurability, reusability ...

  6. Specialized Solvers • Separate heuristics for each objective and constraint • Use best possible heuristics for each • Use multiple heuristics for each

  7. Example Heuristics • Accessibility: push body with accessible face towards boundary • Accessibility: relocate body that is blocked • Connectivity: compute gradient of connectivity cost - use gradient information to move objects

  8. A-Teams: Asynchronous Teams • Agent based problem solving • Populations of solutions • Computer Tools Encapsulated as Agents • Agents operate autonomously • Each agent can work on a different workstation in parallel with other agents • Multiple copies of agents if computational resources are available

  9. Computer Tools  Agents decide When to work choose What to work on Autonomous Agent Selector Scheduler Operator (Computer Tool) Read Existing Solutions Write New Solutions Modify Solutions

  10. Repository of Computer Based Tools Repository of Controllers Repository of Standard Representations Customized Asynchronous Team Autonomous Agents Asynchronous Teams on Demand

  11. A-Teams Toolkit

  12. Spatial Layout A-Team • Specialized Agents • multiple agents to evaluate objectives and constraints • multiple agents to improve objectives and constraints • variety of algorithms and heuristics • Multiple Representations • solution representation • object representation (cad models)

  13. A-Team for Task 1 Accessibility Agent Population of Solutions Connectivity Agent Separation Agent Protrusion Agent Interference Agent

  14. Solution for Task 1

  15. Old Accessibility Agent New Accessibility Agent A-Team for Task 2 Population of Solutions Connectivity Agent Separation Agent Protrusion Agent Interference Agent

  16. Solution for Task 2

  17. Tradeoffs: Pareto Surface bad Connectivity good bad good Accessibility

  18. Summary • Composable Problem Solving Organizations • Combine variety of: • Heuristics • Solution Representations • Object Representations • Reorganize Team of Agents in response to changes in Task Requirements • Tradeoffs determined by user

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