Self-Management Framework for Mobile Autonomous Systems |
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Authors: | Eskindir Asmare Anandha Gopalan Morris Sloman Naranker Dulay Emil Lupu |
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Affiliation: | (1) School of Informatics, University of Sussex, Falmer, Brighton, BN1 9QJ, UK;(2) Department of Computing, Imperial College London, London, SW7 2AZ, UK |
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Abstract: | The advent of mobile and ubiquitous systems has enabled the development of autonomous systems such as wireless-sensors for
environmental data collection and teams of collaborating Unmanned Autonomous Vehicles (UAVs) used in missions unsuitable for
humans. However, with these range of new application-domains comes a new challenge—enabling self-management in mobile autonomous
systems. Autonomous systems have to be able to manage themselves individually as well as form self-managing teams which are
able to adapt to failures, protect themselves from attacks and optimise performance. This paper proposes a novel distributed
policy-based framework that enables autonomous systems of varying scale to perform self-management individually and as a team.
The framework allows missions to be specified in terms of roles in an adaptable and reusable way, enables dynamic and secure
team formation with a utility-based approach for optimal role assignment, caters for communication link maintenance amongst
team-members and recovery from failure. Adaptive management is achieved by employing a policy-based architecture to enable
dynamic modification of the management strategy relating to resources, role behaviour, communications and team management,
without interrupting the basic software within the system. Evaluation of the framework shows that it is scalable with respect
to the number of roles, and consequently the number of autonomous systems involved in the mission. It is also optimal with
respect to role assignments, and robust to intermittent communication link and permanent team-member failures. |
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