Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Space/time trade-offs in hash coding with allowable errors
Communications of the ACM
An extension of the Munkres algorithm for the assignment problem to rectangular matrices
Communications of the ACM
Multiagent Mission Specification and Execution
Autonomous Robots
The Vision of Autonomic Computing
Computer
HPDC '02 Proceedings of the 11th IEEE International Symposium on High Performance Distributed Computing
Constrained Component Deployment in Wide-Area Networks Using AI Planning Techniques
IPDPS '03 Proceedings of the 17th International Symposium on Parallel and Distributed Processing
Distributed Coordination in Heterogeneous Multi-Robot Systems
Autonomous Robots
Deployment and Dynamic Reconfiguration Planning for Distributed Software Systems
ICTAI '03 Proceedings of the 15th IEEE International Conference on Tools with Artificial Intelligence
An Artificial Intelligence Perspective on Autonomic Computing Policies
POLICY '04 Proceedings of the Fifth IEEE International Workshop on Policies for Distributed Systems and Networks
A Paradigm for Dynamic Coordination of Multiple Robots
Autonomous Robots
Towards Supporting Interactions between Self-Managed Cells
SASO '07 Proceedings of the First International Conference on Self-Adaptive and Self-Organizing Systems
Deployment and dynamic reconfiguration planning for distributed software systems
Software Quality Control
The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver
IEEE Transactions on Computers
AMUSE: autonomic management of ubiquitous e-Health systems
Concurrency and Computation: Practice & Experience - Selected Papers from the 2005 U.K. e-Science All Hands Meeting (AHM 2005)
The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
Self-management Framework for Unmanned Autonomous Vehicles
AIMS '07 Proceedings of the 1st international conference on Autonomous Infrastructure, Management and Security: Inter-Domain Management
A policy-based management architecture for mobile collaborative teams
PERCOM '09 Proceedings of the 2009 IEEE International Conference on Pervasive Computing and Communications
Self-healing for pervasive computing systems
Architecting dependable systems VII
How UGVs physically fail in the field
IEEE Transactions on Robotics
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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.