|Title||Protokol za uspostavu povjerenja u multi-agentskim sustavima s promjenjivom topologijom |
|Author||Petra Maždin |
|Mentor(s)||Stjepan Bogdan (thesis advisor) |
U klasičnom pristupu uspostavi povjerenja u multi-agentskom sustavu pretpostavlja se da je topologija razmjene podataka između agenata nepromjenjiva.
U ovom diplomskom radu je razvijen protokol za uspostavu povjerenja u multi-agentskim sustavima s promjenjivom topologijom. Nadalje, simuliranjem u programskom alatu Matlab ispitana je valjanost razvijenog protokola, kao i utjecaj promjenjive pogreške mjerenja (razlika u mjerenim podacima i podacima dobivenim komunikacijom s agentima) na rad protokola.
|Keywords||trust based consensus. variable topology binary protocol multi-agent system connection breakdown underwater simulator |
|Parallel title (English)||Trust based consensus in multi-agent systems with variable topology |
|Committee Members||Stjepan Bogdan (committee chairperson) |
Stjepan Bogdan (committee chairperson)
Damjan Miklić (committee member)
Mario Vašak (committee member)
Tamara Petrović (committee member)
Ivan Marković (committee member)
|Granter||University of Zagreb |
Faculty of Electrical Engineering and Computing
|Scientific field, discipline, subdiscipline||TECHNICAL SCIENCES |
|Study programme type||university |
|Study level||graduate |
|Study programme||Electrical Engineering and Information Technology |
|Academic title abbreviation||mag. ing. el. techn. inf. |
|Genre||master's thesis |
|Language|| English |
|Defense date||2016-03-03 |
|Parallel abstract (English)|| |
In this paper, given a decentralized multi-agent system, a protocol for reaching trust based consensus is examined as it plays a great role in control.
Depending on different factors (e.g. agent's specifications, environment, communication, etc.), the agent with the greatest trust value should take the leading role of the group at that moment. Thus, a system hierarchy is established based on trust values of each agent and they are being updated in every step of the algorithm. The values are obtained by exploiting the current agent's accomplishment (local observation) and observations received from the other agents in its neighbourhood.
Considering the fact that not all agents have to agree separately on the trust value, an adaptation control is employed to negotiate and find the best solution together in the end.
In general, invariable topology of data exchange is used more often because of its simplicity. In this paper, a trust based consensus is trying to be reached having a system with variable topology since it 'imitates' a real system more credibly.
Furthermore, trustworthiness of the binary protocol is examined by simulating the algorithm in MATLAB, just like the influence of a variable measurement error (a difference between measured data and data obtained in communication with other agents) on protocol execution.
Moreover, the algorithm is adapted and tested in an underwater simulator that represents a real system.
The findings of this study strongly suggest the binary protocol in multi-agent systems with variable topology because it enables reaching the consensus in trust values and makes a self-organizing cooperative control in the system possible.
|Parallel keywords (Croatian)||konsenzus vrijednosti povjerenja promjenjiva topologija binarni protokol višeagentski sustav prekid veza podvodni simulator |
|Resource type||text |
|Access condition||No public access |