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Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
CAMERACAMERA
Coordination and Management Coordination and Management Environments for Responsive AgentsEnvironments for Responsive Agents
Robert Neches, P/IRobert Neches, P/IPedro Szekely, Project LeaderPedro Szekely, Project Leader
Martin Frank, Comp. ScientistMartin Frank, Comp. Scientist
University of Southern CaliforniaUniversity of Southern CaliforniaInformation Sciences InstituteInformation Sciences Institute
Marina del Rey, CaliforniaMarina del Rey, California
Robert Neches, P/IRobert Neches, P/IPedro Szekely, Project LeaderPedro Szekely, Project Leader
Martin Frank, Comp. ScientistMartin Frank, Comp. Scientist
University of Southern CaliforniaUniversity of Southern CaliforniaInformation Sciences InstituteInformation Sciences Institute
Marina del Rey, CaliforniaMarina del Rey, California
Capt DowellCapt DowellSSgt FraySSgt Fray
Capt GreeneCapt GreeneCapt HardyCapt Hardy
Capt MaddocksCapt MaddocksMaj OneillMaj Oneill
Sgt ThompkinsSgt ThompkinsMaj VestMaj Vest
MAG 13, 3RD MAWMAG 13, 3RD MAW
Capt DowellCapt DowellSSgt FraySSgt Fray
Capt GreeneCapt GreeneCapt HardyCapt Hardy
Capt MaddocksCapt MaddocksMaj OneillMaj Oneill
Sgt ThompkinsSgt ThompkinsMaj VestMaj Vest
MAG 13, 3RD MAWMAG 13, 3RD MAW
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
SNAP: Schedules Negotiated SNAP: Schedules Negotiated by ANT-based Plannersby ANT-based Planners
FlightFlightSchedulingScheduling
SNAPSNAP Develops weekly and daily schedulesDevelops weekly and daily schedules
Repairs schedules on-the-fly for unforeseen eventsRepairs schedules on-the-fly for unforeseen events
Allows operators to refine the scheduleAllows operators to refine the schedule
Interacts with SARA for risk analysis, record-keepingInteracts with SARA for risk analysis, record-keeping
SNAP ANTsSNAP ANTs PilotsPilots
AircraftAircraft
MissionsMissions
RangesRanges
Flow managerFlow manager
Add’l futureAdd’l future ODOODO OrdnanceOrdnance PMCPPMCP AcademicsAcademics
ANTsANTs Represent the objectives and Represent the objectives and
concerns of stakeholdersconcerns of stakeholders
NegotiationNegotiation Enables rapid identification of Enables rapid identification of
candidates to perform taskscandidates to perform tasks Aids investigating trade-offsAids investigating trade-offs
Contribution: coordination of skills,Contribution: coordination of skills,training, missions, equipment, and timetraining, missions, equipment, and time
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
GuidanceGuidance
Resource AllocationResource AllocationNegotiationsNegotiations
Progress MonitoringProgress Monitoring
CandidateCandidateTasksTasks
TaskTaskExecutionExecution
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CAMERA: CAMERA: Approach to Real-time, Approach to Real-time, Distributed Resource AllocationDistributed Resource Allocation
Application: Coordinated Ops, Maintenance, SupplyApplication: Coordinated Ops, Maintenance, Supply
Different from traditional optimizationDifferent from traditional optimization
– Cannot elicit full evaluation function in advanceCannot elicit full evaluation function in advance
– Often, only way to handle problem is to change itOften, only way to handle problem is to change it
VERY high military payoffs: Money, LivesVERY high military payoffs: Money, Lives
Negotiation costs increase near execution time (aids closure)Negotiation costs increase near execution time (aids closure)
Time permitting, refine priorities by exploring options outside of guidanceTime permitting, refine priorities by exploring options outside of guidance
Drive convergence by adding guidance to steer negotiations within original guidanceDrive convergence by adding guidance to steer negotiations within original guidance
Guide convergence by soft bounds on counterproposals: time, cost, variation
Guide convergence by soft bounds on counterproposals: time, cost, variation
Multiple feedback loops control the negotiation process
Multiple feedback loops control the negotiation process
Parallel negotiation of alternatives, pruned by guidance sensitive to time pressures (aids efficiency, stability)Parallel negotiation of alternatives, pruned by guidance sensitive to time pressures (aids efficiency, stability)
Execute current best alternatives when time arrives (ensures good-enough, soon-enough)
Execute current best alternatives when time arrives (ensures good-enough, soon-enough)
Deviations from expected progress trigger renegotiation in anticipation of problems, opportunities (aids stability)Deviations from expected progress trigger renegotiation in anticipation of problems, opportunities (aids stability)
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
GuidanceGuidance
Resource AllocationResource AllocationNegotiationsNegotiations
Progress MonitoringProgress Monitoring
CandidateCandidateTasksTasks
TaskTaskExecutionExecution
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Negotiation StatusNegotiation Status
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StatusStatus
CAMERA Status:CAMERA Status:Currently Implemented Currently Implemented
Architectural ComponentsArchitectural Components
~300 ANTs~300 ANTs
~50K msgs ~50K msgs in < 30 secsin < 30 secs
~250 tasks ~250 tasks consideredconsidered
~ 50 tasks ~ 50 tasks acceptedaccepted
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
JSF Comments on Key Technology:JSF Comments on Key Technology:Major General Hough, JSF Program ManagerMajor General Hough, JSF Program Manager
“... a first time opportunity to do extremely complex
balancing of considerations within critical time constraints,
as well as repair those schedules within those same
time limits.”
“What excited me most, though, was the empowerment...to do
planning and replanning so far inside decision cycles that it will
provide “Look-ahead” capabilities never before
available.”
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Themes in Current Phase of WorkThemes in Current Phase of Work
Architectural extensions and refinements
Initial applicability at MCAS Yuma
Collaboration with complexity contractors
Hierarchical negotiation: SNAP / MAPLANT
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
CAMERA:CAMERA:Architecture Work in ProgressArchitecture Work in Progress
Dynamically Dynamically introduced introduced constraintsconstraints
Soft boundsSoft bounds
““Marbles”Marbles”
Parallel Parallel evaluationevaluation
Architectural work remaining in phase III: proactive renegotiationArchitectural work remaining in phase III: proactive renegotiation
GuidanceGuidance
Resource AllocationResource AllocationNegotiationsNegotiations
Progress MonitoringProgress Monitoring
CandidateCandidateTasksTasks
TaskTaskExecutionExecution
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Negotiation StatusNegotiation Status
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Initiate exploration of tradeoffs and alternatives by imposing and freezing requirements and their priorities
Initiate exploration of tradeoffs and alternatives by imposing and freezing requirements and their priorities
Control exploration via measurable limits on deviation from idealControl exploration via measurable limits on deviation from ideal
Trigger cooperative renegotiation over critical resources through continuous evaluation of needTrigger cooperative renegotiation over critical resources through continuous evaluation of need
Evaluate tradeoffs of selected alternatives through negotiation “beam search”Evaluate tradeoffs of selected alternatives through negotiation “beam search”
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Priorities regroupedPriorities regrouped
Mission selected for editingMission selected for editing
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Feedback from Users at Marine Air Group 13:Feedback from Users at Marine Air Group 13:Commander of VMA-513, Designated Representative for Evaluating CACE ACTDCommander of VMA-513, Designated Representative for Evaluating CACE ACTD
“... this tool is not simply an automation of current processes..., but a catalyst for the
expansion of a squadron’s planning horizon that affords the comparison of alternative ‘futures.’”
“...I am encouraged by the progress our that our military- civilian team team has made...”
When perfected, it should allow commanders to apply, evaluate..., and refine command guidance; bringing an unparalleled level of detail and
utility to operational decisions.
...Equally useful is the ability to repair plans that have been overcome by events... without
deviating from the commander’s intent.
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Marbles: Marbles: Cooperative RenegotiationCooperative Renegotiation
Dynamically Dynamically introduced introduced constraintsconstraints
Soft boundsSoft bounds
““Marbles”Marbles”
Parallel Parallel evaluationevaluation
GuidanceGuidance
Resource AllocationResource AllocationNegotiationsNegotiations
Progress MonitoringProgress Monitoring
CandidateCandidateTasksTasks
TaskTaskExecutionExecution
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Negotiation StatusNegotiation StatusE
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Trigger cooperative renegotiation over critical resources through continuous evaluation of needTrigger cooperative renegotiation over critical resources through continuous evaluation of need
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Marbles Family of Resource Allocation NegotiationsMarbles Family of Resource Allocation Negotiations
Task priorities = discrete quantities to put on resources Quantities adapt as execution time nears Continuous fluctuation Graceful withdrawal
Task priorities = discrete quantities to put on resources Quantities adapt as execution time nears Continuous fluctuation Graceful withdrawal
Mission 2Lead Pilot w/ Quals QL21, QL22....
Wing w/ Quals QW21, QW22....
Pilot APilot B
Pilot C
Pilot D
Mission 1Lead Pilot w/ Quals QL11, QL12....
Wing w/ Quals QW11, QW12....
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Study of Marbles Family MembersStudy of Marbles Family Members Example: comparisons on 30
randomly generated problems of total value (quality), time (speed)
3 Marbles variants vs. Simulated Annealing (SA) and SAT– MarbleSize: allows subdividing
marbles, trades solution quality vs convergence speed
– GrabMarbles: like MarbleSize but allows local heuristics
– Marbles2: dutch auction-like (loser)
Results / Observations:Results / Observations:– MarbleSize & GrabMarbles work MarbleSize & GrabMarbles work
as well as SA and SATas well as SA and SAT
– Run 3-10x fasterRun 3-10x faster
– Appear tunable toAppear tunable toCAMERA and ANTCAMERA and ANTgood-enough / soon-enough good-enough / soon-enough criteriacriteria
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
Computational Complexity IssuesComputational Complexity Issues Engineering handbook theory of negotiation:
– No best algorithm
– Real question is, “Best under which conditions?”
– Domain knowledge is critical
Next step in CAMERA: parallel evaluation– ATTEND has results that could significantly improve this
Remnants of “Complexity Fest” workshop series– CAMERA code available to complexity contractors
– Hooks implemented for monitoring negotiations
– Other contractors’ plans to be presented during this mtg
Robert Neches & Pedro Szekely, USC ISI, © 2001 CAMERA, http://www.isi.edu/camera/
SNAP - MAPLANT CoordinationSNAP - MAPLANT Coordination
OPSMaintenance
Guidance
MAPLANT SNAP
First Cut Plan
Refined Ops Plan
Approx. Maintenance Plan (A/C status)
Refined Maintenance Plan
DemoDemo
Negotiation
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