• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 한국자동차공학회논문집
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• 제12권5호
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• pp.125-135
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• 2004

The validity of simulation has been well-established for decades in areas such as computer and communication system. Recently, the technique has become entrenched in specific areas such as transportation and traffic forecasting. Several methods have been proposed for investigating complex traffic flows. However, the dynamics of vehicles and their driver's characteristics, even though it is known that they are important factors for any traffic flow analysis, have never been considered sufficiently. In this paper, the traffic simulation using a multi-agent approach with considering vehicle dynamics is proposed. The multi-agent system is constructed with the traffic environment and the agents of vehicle and driver. The traffic environment consists of multi-lane roads, nodes, virtual lanes, and signals. To ensure the fast calculation, the agents are performed on the based of the rules to regulate their behaviors. The communication frameworks are proposed for the agents to share the information of vehicles' velocity and position. The model of a driver agent which controls a vehicle agent is described in the companion paper. The vehicle model contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation has proceeded for an interrupted and uninterrupted flow model. The result has shown that the driver agent performs human-like behavior ranging from slow and careful to fast and aggressive driving behavior, and that the change of the traffic state is closely related with the distance and the signal delay between intersections. The system developed shows the effectiveness and the practical usefulness of the traffic simulation.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.145-154
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• 2006

In the companion paper, the composition and structure of the MATDYMO (Multi-Agent for Traffic Simulation with Vehicle Dynamic Model) were proposed. MATDYMO consists of the road management system, the vehicle motion control system, the driver management system, and the integration control system. Among these systems, the road management system and the integration control system were discussed In the companion paper. In this paper, the vehicle motion control system and the driver management system are discussed. The driver management system constructs the driver agent capable of having different driving styles ranging from slow and careful driving to fast and aggressive driving through the yielding index and passing index. According to these indices, the agents pass or yield their lane for other vehicles; the driver management system constructs the vehicle agents capable of representing the physical vehicle itself. A vehicle agent shows its behavior according to its dynamic characteristics. The vehicle agent contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation is conducted for an interrupted flow model and its results are verified by comparison with the results from a commercial software, TRANSYT-7F. The interrupted flow model simulation is implemented for three cases. The first case analyzes the agents' behaviors in the interrupted flow model and it confirms that the agent's behavior could characterize the diversity of human behavior and vehicle well through every rule and communication frameworks. The second case analyzes the traffic signals changed at different intervals and as the acceleration rate changed. The third case analyzes the effects of the traffic signals and traffic volume. The results of these analyses showed that the change of the traffic state was closely related with the vehicle acceleration rate, traffic volume, and the traffic signal interval between intersections. These simulations confirmed that MATDYMO can represent the real traffic condition of the interrupted flow model. At the current stage of development, MATDYMO shows great promise and has significant implications on future traffic state forecasting research.

• 경영과학
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• 제21권3호
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• pp.23-38
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• 2004

Recently the usage of mobile devices which enable the accessibility to Internet has been dramatically increased. Most of the mobile services, however, so far tend to be simple such as infotainment service. In order to fully taking advantage of wireless network and corresponding technology, personalized web service based on user's context could be needed. Meanwhile, optimization techniques have been vitally incorporated for optimizing the development and administration of electronic commerce. However, applying context-aware optimization mechanism to personalized mobile services is still very few. Hence, the purpose of this paper is to propose a methodology to incorporate optimization techniques into personalization services. Multi agent-based web service approach is considered to realize the methodology. To show the feasibility of the methodology proposed in this paper, a prototype system, CAMA-myOPt(Context-Aware Multi-Agent system for my Optimization), was implemented and adopted in mobile comparative shopping.

• Advances in robotics research
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• 제2권3호
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• pp.247-257
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• 2018

Various studies have been performed to coordinate robots in transporting objects and different artificial intelligence algorithms have been considered in this field. In this paper, we investigate and solve Multi-Robot Transportation problem by using a combined auction algorithm. In this algorithm each robot, as an agent, can perform the auction and allocate tasks. This agent tries to clear the auction by studying different states to increase payoff function. The algorithm presented in this paper has been applied to a multi-robot system where robots are responsible for transporting objects. Using this algorithm, robots are able to improve their actions and decisions. To show the excellence of the proposed algorithm, its performance is compared with three heuristic algorithms by statistical simulation approach.

• Asia pacific journal of information systems
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• 제14권4호
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• pp.49-70
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• 2004

Multi-agent technology is being regarded as one of the promising technologies for today's supply chain management because of its desirable features such as autonomy, intelligence, and collaboration. This paper suggests a multi-agent system architecture with which companies can improve the efficiency of their supply chains by collaborative operation. Reflecting the practical difficulties of collaboration in complex supply chains, the architecture allows agent systems to share information with only neighboring companies for the coordinated operation. The suggested architecture is elaborated with a collaboration model based on Petri-net, conversation models for communication, and internal behavior models of each agent. A simulation experiment was performed for the evaluation of the suggested architecture. The result implies that when the estimation of market demand is higher than a certain level, the suggested architecture can be beneficial.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.879-884
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• 2004

This paper describes the development of a synthetic multi-agent called KMITL Cadence 2003. KMITL Cadence 2003 is a robotic soccer simulation team consisting of eleven autonomous software agents. Each agent operates in a physical soccer simulation model called Robocup Soccer Server which provides fully distributed and real-time multi-agent system environment. All teammates have to cooperate to achieve the common goal of winning the game. The simulation models many aspects of the football field such as noise in ball movements, noisy sensors, unreliable communication channel between teammates and actuators, limited physical abilities and restricted communication. This paper addresses the algorithm to develop the soccer agents to perform basic actions which are scoring, passing ball and blocking the opponents effectively. The result of this development is satisfactory because the successful scoring attempts is increased from 11.1% to 33.3%, successful passing ball attempts is increased from 22.08% to 63.64%, and also, successful intercepting attempts is increased from 88% to 97.73%.

• 한국항공우주학회지
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• 제48권8호
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• pp.573-580
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• 2020

다중개체를 제어하기 위해서 해결해야 되는 문제들 중 하나는 위치제어다. 위치와 속도를 제어하기 위한 모델로 augmented Cucker-Smale 모델이 존재했다. 하지만 기존 모델은 모든 개체에 동일한 시스템을 적용함에 따라서 개별개체의 특성을 살리지 못했다는 특징이 있다. 본 논문에서는 그 점을 보안하고 적절한 형태로 변형하기 위해서 초기 위치와 분포를 이용한 마할라노비스 거리를 계수와 통계학적 자유도를 적용해서, 모델의 수렴시간과 소모에너지를 동시에 줄이고자 한다. 모델의 성능 검증을 위해서 몬테카를로 시뮬레이션을 통해서 전체적인 경향성을 판단했고, 추가적으로 개별 개체의 움직임을 분석하여서 마할라노비스 거리 계수가 적절한 역할을 수행하고 있는지 확인했다.

• 한국정보처리학회논문지
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• 제7권10호
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• pp.3105-3112
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• 2000

• 한국인터넷방송통신학회논문지
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• 제13권6호
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• pp.187-193
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• 2013

다중 에이전트 시스템에서 학습을 통해 여러 에이전트들의 행동을 어떻게 조절할 것인가는 매우 중요한 문제이다. 가장 중요한 문제는 여러 에이전트가 서로 효율적인 협동을 통해 목표를 성취하는 것과 다른 에이전트들과 충돌을 방지하는 것이다. 본 논문에서는 혼성 학습 전략을 제안하였다. 제안된 방법은 다중에이전트를 효율적으로 제어하기 위해 에이전트들 사이의 공간적 관계를 이용하였다. 실험을 통해 제안된 방법은 에이전트들과 충돌을 피하면서 에이전트들의 목표에 빠르게 수렴함을 알 수 있었다.