NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Distributed Evaluation Functions for Fault Tolerant Multi-Rover SystemsThe ability to evolve fault tolerant control strategies for large collections of agents is critical to the successful application of evolutionary strategies to domains where failures are common. Furthermore, while evolutionary algorithms have been highly successful in discovering single-agent control strategies, extending such algorithms to multiagent domains has proven to be difficult. In this paper we present a method for shaping evaluation functions for agents that provide control strategies that both are tolerant to different types of failures and lead to coordinated behavior in a multi-agent setting. This method neither relies of a centralized strategy (susceptible to single point of failures) nor a distributed strategy where each agent uses a system wide evaluation function (severe credit assignment problem). In a multi-rover problem, we show that agents using our agent-specific evaluation perform up to 500% better than agents using the system evaluation. In addition we show that agents are still able to maintain a high level of performance when up to 60% of the agents fail due to actuator, communication or controller faults.
Document ID
20060013269
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Authors
Agogino, Adrian
(NASA Ames Research Center Moffett Field, CA, United States)
Turner, Kagan
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 23, 2013
Publication Date
January 1, 2005
Subject Category
Mathematical And Computer Sciences (General)
Meeting Information
Meeting: Genetic and Evolutionary Computation Conference (GEECO ''06)
Location: Seattle, WA
Country: United States
Start Date: July 8, 2006
End Date: July 12, 2006
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available