On this page, we present video materials accompanying the evaluations performed in the Doctorals Thesis "Ensemble Programming for Flying Ensembles -Combinging Planning with Self-Organization" authored by Oliver Kosak.
The contents of this page are video materials dedicated to the following purposes:
- Evaluations of the concepts from the Multipotent Systems reference architecture using our prototypical reference implementation deployed to real hardware
- Evaluation of the task allocation mechanism using real hardware
- Evaluations of the Algorithmic Pattern for Trajectory-Based Swarm Behavior (Protease) with NetLogo
- Evaluations of the execution of Ensemble Programs generated within the approach Maple using the prototypical reference implementation of Multipotent Systems
Evaluations of the Concepts from the Multipotent Systems Reference Architecture Using the Prototypical Reference Implementation Deployed to Real Hardware
- Flying robot ensemble in action at the ScaleX 2016 geographic measurement campaign - video on YouTube depicting the field experiment performed during the ScaleX 2016 measuring campaign demonstrating the feasibility of cooperatively transporting a DTS optic-fiber measuring unit with a Multipotent System
- SASO 2016 - Decentralized Coordination of Heterogeneous Ensembles Using Jadex - video on YoutTube depicting the mechanism for Self-Organized task allocation deomonstrated at the 10th IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO) 2016
- PROTEASE-NetLogo-Gathering: video on YouTube depicting the execution of Protease generating a Gathering swarm behavior
- PROTEASE-NetLogo-Guided-Boiding: video on YouTube depicting the execution of Protease generating a Guided-Boiding swarm behavior
- PROTEASE-NetLogo-PSO: video on YouTube depicting the execution of Protease generating a PSO swarm behavior
- PROTEASE-NetLogo-Triangle: video on YouTube depicting the execution of Protease generating a Triangle swarm behavior
- PROTEASE-NetLogo-Line-of-Fliers: video on YouTube depicting the execution of Protease generating a Line-of-Fliers swarm behavior
- PROTEASE-NetLogo-Ring-of-Fliers: video on YouTube depicting the execution of Protease generating a Ring-of-Fliers swarm behavior
- PROTEASE-NetLogo-Ball-of-Fliers: video on YouTube depicting the execution of Protease generating a Ball-of-Fliers swarm behavior
- PROTEASE-NetLogo-Shape-Form: video on YouTube depicting the execution of Protease generating a Shape-Form swarm behavior
- PROTEASE-NetLogo-SCORe (additional): video on YouTube depicting the execution of Protease configurations relevant for a SCORe mission relevant for Major Catastrophe Handling
- Maple-Seeding-Robot - video demonstrating the execution of the seeding robot scenario
- MAPLE-Forest-Fire-Planning-Execution - video demonstrating the execution of the Forest-Fire-HTN within a 2D-dimensional simulation environment
- MAPLE-Forest-Fire-HTN-Design - video demonstrating the Design of the Forest-Fire-HTN
Evaluations of the execution of Ensemble Programs generated within the approach Maple using the prototypical reference implementation of Multipotent Systems
Control Structures and Coordination
- MAPLE-Any-Agent: video on YouTube depicting an exemplary usage of the Any-Agent
- MAPLE-All-Agent: video on YouTube depicting an exemplary usage of the All-Agent
- MAPLE-Swarm-Agent: video on YouTube depicting an exemplary usage of the Swarm-Agent
- MAPLE-Set-Agent: video on YouTube depicting an exemplary usage of the Set-Agent
- MAPLE-Sequential-Execution: video on YouTube depicting an exemplary sequential execution
- MAPLE-Parallel-Execution: video on YouTube depicting an exemplary sequential execution
- MAPLE-Repeated-and-Conditional-Execution: video on YouTube depicting an exemplary repeated and conditional execution
- MAPLE-Repeated-and-Conditional-Execution (additional): video on YouTube depicting an exemplary parallel, repeated, and conditional execution
- MAPLE-Replanning-Execution: video on YouTube depicting an exemplary repeated and conditional execution
Collective Capabilities
Protease - Modifying the Calculation Function
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PROTEASE-Calculator-PSO: video on YouTube depicting the execution of Protease generating a PSO swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Boiding: video on YouTube depicting the execution of Protease generating a Boiding swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Triangle: video on YouTube depicting the execution of Protease generating a Triangle swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Potential-Field: video on YouTube depicting the execution of Protease generating a Potential-Field swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Line: video on YouTube depicting the execution of Protease generating a Line swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Ring-of-Fliers: video on YouTube depicting the execution of Protease generating a Ring-of-Fliers swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Ball-of-Fliers: video on YouTube depicting the execution of Protease generating a Ball-of-Fliers swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Gathering: video on YouTube depicting the execution of Protease generating a Gathering swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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[PROTEASE-Calculator-PSO-User]: video on YouTube depicting the execution of Protease generating a user-controlled PSO swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Boiding-User: video on YouTube depicting the execution of Protease generating a user-controlled Boiding swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Triangle-User: video on YouTube depicting the execution of Protease generating a user-controlled Triangle swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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[PROTEASE-Calculator-Potential-Field-User]: video on YouTube depicting the execution of Protease generating a user-controlled Potential-Field swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Line-User: video on YouTube depicting the execution of Protease generating a user-controlled Line swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Ring-of-Fliers-User: video on YouTube depicting the execution of Protease generating a user-controlled Ring-of-Fliers swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Ball-of-Fliers-User: video on YouTube depicting the execution of Protease generating a user-controlled Ball-of-Fliers swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
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PROTEASE-Calculator-Gathering-User: video on YouTube depicting the execution of Protease generating a user-controlled Gathering swarm behavior encapsulated in a Collective Capability integrated in the Multipotent Systems reference architecture
Protease - Modifying the Termination Function
- PROTEASE-Termination-Centroid: video on YouTube depicting the self termination of Protease using a centroid termination with threshold 0.2 m integrated in the Multipotent Systems reference architecture
- PROTEASE-Termination-Unknown-Measurement: video on YouTube depicting the self termination of Protease using a unknown measurement termination (simulated gas concentration above threshold) integrated in the Multipotent Systems reference architecture
- PROTEASE-Termination-User: video on YouTube depicting the user termination of Protease integrated in the Multipotent Systems reference architecture
Protease - Modifying the Aggregation Function
- PROTEASE-Aggregation-Centroid: video on YouTube depicting the aggregation function centroid of Protease integrated in the Multipotent Systems reference architecture
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- PROTEASE-Aggregation-Unknown-Measurement: video on YouTube depicting the aggregation function centroid of Protease integrated in the Multipotent Systems reference architecture
Collective Capability for Protelis Programs
- Protelis-Termination-Test: video on YouTube depicting the correct termination of a Protelis program executed as External Capability in a Multipotent System
- Protelis-Count-Neighbors-Test: video on YouTube depicting the correct communication within Protelis program executed as External Capability in a Multipotent System
- Protelis-Measure-Temperature-Test: video on YouTube depicting the correct access of capabilities within Protelis program executed as External Capability in a Multipotent System
Maple Combined Execution
- MAPLE-Combined-Execution: video on YouTube depicting the combined execution of many MAPLE elements