A Framework for Situated Multiagent Systems

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In this paper, we present an object-oriented framework for situated multiagent systems. The framework integrates various mechanisms for adaptivity we have developed and applied in our research, including selective perception, protocol-based communication, behavior-based decision making with roles and situated commitments, and laws that mediate the activities of agents in the environment. The framework provides a reusable design asset that facilitates the development of new multiagent system applications that share the common base more reliable and cost efficiently. We give an overview of the framework, and we zoom in on two particular features: decision making with a free-flow tree and support for simultaneous actions. Finally, we show how the framework is applied to an experimental robot application.