MASA-CIRCA: Multi-Agent Self-Adaptive Control for Mission-Critical Systems

摘要

The goal of this contract effort was to begin extending the Cooperative Intelligent Real-Time Control Architecture (CIRCA) with abilities to automatically monitor its own performance and adapt in real-time, forming Multi- Agent Self Adaptive (MASA) CIRCA. CIRCA is a coarse-grained architecture designed to control autonomous systems which require both intelligent, deliberative planning activity and highly reliable, hard real-time reaction to safety threats. The MASA-CIRCA project extended this architecture with the ability to reason accurately about its own real-time behavior, and adapt that behavior in response to performance feedback. Major issues investigated during this project include formally verifying real-time control plans, dynamically decomposing long-term plans into sub goals, and building real- time control plans using probabilistic information to reason about most-likely states first. We provided digital video demonstrations of these features, with MASA-CIRCA operating in a combat oriented multi-aircraft flight simulation domain.