This report summarizes the research and development efforts performed in the DARPA-sponsored project in Multilevel Coordination Mechanisms for Real- Time Autonomous Agents, as part of the DARPA Control of Agent Based Systems (CoABS) program. The work was performed from May of 1998 to April of 2003. During the course of the project, significant advances have been made in the area of plan-based control and coordination of semi-autonomous agents. Specifically, techniques for modeling and coordinating agents based on hierarchical representations of their plans have been shown to be efficient and effective in enabling multiple agents, each with its own sophisticated plans and objectives, to predict and resolve unintended conflicts between their operations, as well as to anticipate and exploit opportunities for cooperation. The basic research results have been implemented into a Multilevel Coordination Agent (MCA) that operates on the CoABS Grid. The MCA has been demonstrated as part of the Coalition Agents Experiment (CoAX), culminating in the October 2002 demonstration at the Naval Warfare Development Center in Newport, RI.
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