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

• 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

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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• [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

• 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

• 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

• [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

• 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

• 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

• 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

• 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
• • 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