Coordination and Control of Multi-Agent Systems

Abstract

This thesis considers in detail the technical issues associated with the effective control and coordination of Multi-Agent Systems (MAS), with particular emphasis on techniques that increase the robustness of the team of physical agents, when subjected to uncertainties, such as malfunctions and imperfect communications. The thesis is organized according to the two main decision making levels where coordination between members within an agent team can occur, namely on the Macro and Micro-levels of decision making, from mission specification, assignment, to actual task accomplishment.