The solution

The better team (Sam, Nedeljko, Carlos, Thomas, Regina, Naeem)

What are the types of adaptations?

• Two types of adaptation1) Domain-specific (application-specific)

• Reassignment of robots to different teams• If a leader crashes, another leader is selected

2) Updating the application logic of the robot• Instead of organizing the chairs in a room, vacuum the

room• When a software component deployed on a robot

crashes, re-instantiate it

What are the goals?

• Domain-specific goals – Setup the room as fast as possible– Setup the room as clean as possible

• Adaptation goals– Depend on domain-specific goals– Fix (re-instantiate) a failed software component on

a robot as fast as possible• Conflicting goals are handled through utility

functions

The general architectural style

• Setup feedback control loops and coordination/communication mechanisms that are– Hierarchical

• Scalability of communication and control

– Peer-to-peer within each layer of the hierarchy• Fault-tolerance, robustness, etc.

• Regularity principles– Roles: leaders, slaves, etc. – Communication follows the structure of organization

• Recursively hierarchical– The number of layers is itself a tunable parameter

General (logical) organization

How to represent knowledge?

• A cyber-physical model of – Rooms, robots, chairs, status of those elements, etc.

• Consistency– Broadcasting state to all members within each group – Leader selectively shares appropriate info with other

leaders• Guarantee– If a leader dies, another group member becomes the

leader without losing state