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Abstrak :
Penelitian mengenai permasalahan konsensus pada konvergensi dan stabilitas multi-agent systems MAS merupakan salah satu topik penelitian fundamental terkait dengan perlunya kendali terdistribusi untuk masing-masing agent pada MAS. Permasalahan dalam perancangan pengendali ini dapat dipengaruhi oleh berbagai variabel, diantaranya adalah model dinamik MAS, skema organisasi dan jenis topologi komunikasi. Pada penelitian ini, protokol konsensus berbasis sistem kendali prediktif terdistribusi dengan skema organisasi leaderless dirancang untuk menyelesaikan permasalahan konsensus pada model MAS domain waktu diskrit. Dinamika sistem multi-agent dideskripsikan dalam model integrator tunggal. Protokol pengendali konsensus dibentuk dengan mengkombinasikan antara teori graph untuk mengatur topologi komunikasi antar agent, dengan algoritma kendali prediktif tanpa constraint untuk mengatur respon gerak setiap agent. Pengendali prediktif memprediksi masukan dan keluaran agent sepanjang receding horizon. Kombinasi parameter bobot respon masukan dan keluaran ditala untuk mendapatkan respon terbaik. Pada metode kendali ini, nilai control horizon dapat dibuat sama dengan nilai prediction horizon untuk menambah derajat kebebasan pada sistem lup tertutup. Teori analisis matriks stokastik digunakan untuk menguji konvergensi dan stabilitas sistem berdasarkan topologi komunikasi dan pemilihan periode pencuplikan. Hasil rancangan protokol pengendali DMPC diujikan pada skenario graph topologi tetap dan berubah, dan periode pencuplikan yang berbeda. Hasil uji simulasi menunjukkan bahwa MAS mampu mencapai konsensus secara konvergen pada setiap kondisi kecuali pada graph yang tidak memiliki directed spanning tree.

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Consensus problem in convergence and stability of multi agent systems MAS is one of fundamental research topics related to the urge of distributed control for each agent in MAS. The matter of controller design is affected by some variables such as dynamic model, organization scheme and communication topology. This research addresses the design of distributed model predictive control DMPC based consensus protocol to solve consensus problem in discrete time leaderless MAS. The dynamics of MAS is described as single integrator model. Consensus control protocol is built by combining graph theory to control the communication topology between agents, with predictive control algorithm to control each agent's motion. Predictive control is used to predict input and output of agent throughout receding horizon. Parameter combination of input and output response weight is also predicted to obtain optimum response. In this control method, the control horizon can be adjusted to be the same length as prediction horizon which provides extra degree of freedom to the closed loop system. By using the property of stochastic matrices theory, convergence and system stability can be analyzed based on communication topology used and selection of sampling period. Several simulations are conducted to test the DMPC consensus protocol designed under fixed and switching topology, and different sampling period. The simulation results show that MAS can achieve convergent consensus on every condition, unless if the graph has no directed spanning tree.

Abstrak :
Multi-Agent System MAS atau sistem dengan agen-ganda didefinisikan sebagai sebuah sistem yang terdiri dari beberapa autonomous agents yang saling berinteraksi satu sama lain. MAS dapat diaplikasikan di berbagai disiplin ilmu, seperti di bidang biologi, fisika, ekonomi, ilmu komputer, dsb. Pada penelitian dalam beberapa tahun terakhir, MAS yang dirancang dapat dibedakan berdasarkan: model, skema organisasi, topologi komunikasi, protokol dan algoritma pengendalian MAS yang digunakan, serta parameter lain pada MAS, seperti waktu pencuplikan, waktu tunda, gangguan, batasan, dsb. Walaupun teknologi MAS tidak dapat dikatakan sebagai teknologi yang baru, berbagai masalah masih kerap alam ditemukan dalam implementasinya. Masalah yang biasa ditemukan dalam perancangan MAS antara lain berupa masalah komunikasi, pengendalian agent, hingga MAS yang terlalu kompleks seperti MAS dengan model dinamik agent yang berubah-ubah terhadap waktu . Oleh karena itu, diperlukan penelitian lebih lanjut mengenai MAS dengan kompleksitas tinggi. Pada penelitian ini, akan dikembangkan protokol pengendalian yang tepat guna untuk MAS dengan kompleksitas tinggi sehingga dapat mencapai konsensus walaupun dihadapkan dengan batasan-batasan yang ditemukan pada sistem, seperti topologi komunikasi yang berubah-ubah yang mengganggu ketahanan sistem.

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Multi Agent System MAS or a system with multiple agents is defined as a system consisting of multiple autonomous agents interacting with each other. MAS can be applied in various disciplines, such as in the fields of biology, physics, economics, computer science, etc. In researches in the recent decades, the designed MAS can be distinguished by model, organizational scheme, communications topology, protocol and control algorithm which is used, and other parameters on MAS, such as sampling time, delay time, interruption, constraints, etc. Although MAS technology can not be said to be a new technology, various problems are still often found in implementation. Common problems can be found in communication problems, agent control, up to MAS that is too complex such as MAS with time varying dynamic model of agents. Therefore, further research is needed on MAS with high complexity. In this research, appropriate control protocol will be developed for MAS with time varying dynamic model of agents so that it can reach consensus, although faced with the constraints found in the system, such as the changing communications topology.

Abstrak :
This book constitutes the thoroughly reviewed post-proceedings of the 9th International Workshop, EUMAS 2011, held in Maastricht, The Netherlands, in November 2011. The 16 revised full papers included in the book. This workshop is primarily intended as a European forum at which researchers and those interested in activities relating to research in the area of autonomous agents and multi-agent systems could meet, present (potentially preliminary) research results, problems, and issues in an open and informal but academic environment.

Abstrak :
This book constitutes the thoroughly refereed post-conference proceedings of the 13th International Conference on Principles and Practice of Multi-Agent Systems, PRIMA 2010, held in Kolkata, India, in November 2010. The 18 full papers presented together with 15 early innovation papers were carefully reviewed and selected from over 63 submissions. They focus on practical aspects of multiagent systems and cover topics such as agent communication, agent cooperation and negotiation, agent reasoning, agent-based simulation, mobile and semantic agents, agent technologies for service computing, agent-based system development, ServAgents workshop, IAHC workshop, and PRACSYS workshop.

Abstrak :
Permasalahan tentang robot sepak bola saat ini sudah masuk pada tahap penggunaan koordinasi multi agent karena melibatkan banyak robot. Swarm merupakan salah satu dari banyak konsep multiagen communication dan coordination. Swarm membahas tentang koordinasi yang didasarkan pada prilaku sekumpulan serangga yang saling bekerja sama dalam mencapai tujuan yaitu mendeteksi makanan dan jalur migrasi. Hal ini dituangkan dalam permainan sepak bola dimana beberapa robot akan saling bekerja sama untuk mendeteksi target berupa bola dan membawanya ke gawang lawan dengan saling bekerja sama. Strategi pergerakan yang diberikan mengadopsi konsep Particle Swarm Optimization yang diimplementasikan untuk mencapai efisiensi yang lebih baik untuk mencapai tujuan yaitu mencetak lebih banyak gol ke gawang lawan. Hasil dari penelitian ini menunjukkan bahwa swarm dapat digunakan dengan baik untuk melakukan koordinasi dalam pencarian bola dan pengambilan keputusan untuk mengeksekusi bola pada simulasi robot sepak bola.

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Current problems about soccer robots already entered at this stage is using of multi agent coordination because it involves many robots. Swarm is one of the many concepts of multi agent communication and coordination. Coordination of Swarm based on the behavior of a group of insects that cooperate to achieving the goals, namely to detect food and migration routes. And these are poured in a football game where some robots will mutually cooperate to detect targets in this case is ball and took it to the opponent gates with mutually cooperate. The given movement strategy adopted the concept of Particle Swarm Optimization implemented in order to achieve a better efficiency to achieve a goal that is scored more goals to the opponent. The results of this research show that the swarm can be used well to do coordination in the search sphere and decision making to execute the ball on a simulated of soccer robot.

Abstrak :
This book constitutes the refereed proceedings of the 15th International Conference on Principles and Practice of Multi-Agent Systems, PRIMA 2012, held in Kuching, Sarawak, Malaysia, in September 2012. The conference was collocated with the 12th Pacific Rim International Conference on Artificial Intelligence, PRICAI. The 17 revised full papers presented were carefully reviewed and selected from 42 submissions. The papers are organized in topical sections on foundations, auctions and negotiation, coalition formation and teamwork, norms and institutions, and applications.

Abstrak :
This book constitutes the proceedings of the 9th International Workshop on Programming Multi-Agent Systems held in Taipei, Taiwan, in May 2011 in conjunction with AAMAS 2011, the 10th International Joint Conference on Autonomous Agents and Multiagent Systems. The 12 revised full papers presented together with 1 invited paper were carefully reviewed and selected for inclusion in the book. The papers are organized in topical sections on foundations of agent programming languages, multi-agent oriented programming, model checking, and papers of the participants of the multi-agent programming contest.

Abstrak :
Sistem multi-agent dikembangkan untuk meningkatkan efisiensi kerja dan untuk mengoptimalkan kemampuan beberapa agent yang terdapat dalam satu kesatuan. Ada berbagai masalah yang berkaitan dengan sistem multi-agent, salah satunya adalah masalah konsensus, yang berkaitan dengan hubungan komunikasi antar agent. Tanpa adanya konsensus maka agents tidak dapat mencapai kesepakatan untuk bekerja sama dalam melakukan tugas yang diberikan.Pada skripsi ini, diajukan dua protokol pengendali berbasis observer terdistribusi untuk sistem leader-following multi-agent waktu diskrit. Pada kasus yang pertama, observer terdistribusi tersebut digunakan untuk mengestimasi keadaan leader dan untuk yang kedua, observer terdistribusi digunakan untuk mengestimasi kesalahan pelacakan berdasarkan keluaran relatif dari neighboring agent. Protokol pengendali konsensus ini didesain berdasarkan teori kendali optimal, yaitu persamaan aljabar Riccati. Matriks gain yang digunakan pada sinyal kendali diperoleh dari penyelesaian persamaan aljabar Riccati waktu diskrit. Sementara untuk observer, matriks gain yang digunakan diperoleh dari penyelesaian persamaan aljabar Riccati waktu diskrit yang dimodifikasi.Kedua protokol pengendali berbasis observer terdistribusi diuji coba pada topologi undirected graph yang tetap dan berubah. Hasil uji coba simulasi menunjukkan bahwa keadaan follower agent menunjukkan konvergensi menuju keadaan leader agent, yang artinya masalah konsensus tercapai melalui penggunaan kedua protokol pengendali yang diajukan.

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Multi agent system is developed to improve work efficiency and to optimize the capabilities of multiple agents in a single entity. There are various problems related to multi agent system, one of which is consensus problem, which is related to communication between agents. Without consensus, the agents can not reach agreement to cooperate in performing the given task.In this thesis, two distributed based control protocols are proposed for discrete time leader following multi agent system. For the first case, the distributed observer is used to estimate the leader 39 s state and for the second, the distributed observer is used to estimate the tracking error based on the relative output of the neighboring agent. This consensus control protocol is designed based on the optimal control theory, which is the algebraic Riccati equation. The gain matrix used in the control signal is obtained from solving the discrete time algebraic Riccati equations. As for the observer, the gain matrix is obtained from solving the modified discrete time algebraic Riccati equation.Both distributed observer based control protocols are tested on fixed and switching topology of undirected graphs. The simulation results show that the follower rsquo s state converge toward the leader rsquo s state, which means the consensus problem is achieved through the use of both proposed control protocols.

Abstrak :
This book aims to provide a description of the new trends in agent-based CAMs, complex automated negotiation, based on the papers from leading researchers. Moreover, it gives an overview of the latest scientific efforts in this field, such as the platform and strategies of automated negotiating techniques.

Abstrak :
This book constitutes the proceedings of the 13th International Workshop on Computational Logic in Multi-Agent Systems, CLIMA XIII, held in Montpellier, France, in August 2012. The 11 regular papers were carefully reviewed and selected from 27 submissions and presented with three invited papers. The purpose of the CLIMA workshops is to provide a forum for discussing techniques, based on computational logic, for representing, programming and reasoning about agents and multi-agent systems in a formal way.