1. Save the Gulf (stream) Functional Goal: Minimize oil leaks Sub-goals – Performance: Maximize area covered. – Fault-tolerance How: Search, recruit, and cap Elements – Robots, sensors for detecting oil leaks. Actuators to cap (part of) a leak Self-Adaptive Behavior (context driven) – Search phase (individual) – Recruitment phase (Cooperate to help cap a large leak) – Capping phase (cooperative)

2. Search First, smart dust is spread around the environment of the oil leaks. Agents then engage in one of 3 types of behavior to cap the leak: search, recruit, cap. Default behavior is to search. Search is implemented using decentralized coordination using inverted pheromones. – Robots avoid areas already searched by other robots. Pheromones evaporate, so areas that may leak later or if a capping breaks are searched more than once.

3. Recruit and Cap When a robot discovers a leak, it checks to see if it can cap it by itself. If it is too large, it tries to recruit other nodes to help. Wireless communication is limited, and there is no GPS, so robots use pheromones to find dynamic meeting places where they recruit other robots. – Robots have to periodically switch to recruit mode to follow pheromones to dynamic meeting places. – Meeting places are determined by the areas of highest pheromone concentration – determined dynamically as areas with most leaks. – Auction algorithm for recruitment to cap different leaks

4. Evaluation Search – Baseline coordination behaviour is Random – Inverted pheromones should easily outperform Recruit and cap – Baseline coordination behavior is static meeting places – Pheromones to determine dynamic meeting places -> meeting places where the oil leaks are located.

5. MAPE Architecture Mode Behavior Environment

6. Danny Boy’s Goals Conflicts – Two nodes search the same area -> Inverted pheromones Coordination mechanisms – Indirect (inverted/normal pheromones) – Direct (radio comms between robots) Guarantees – Convergence properties via simulation Information – Direct and indirect communication of robot behaviours and oil leak locations Inherently fault tolerant