@mastersthesis {1510582,
	title = {Execution Monitoring in Multi-Agent Environments  },
	year = {2000},
	type = {PhD thesis},
	abstract = {Agents in complex, dynamic, multi-agent environments
face uncertainty in the execution of their tasks, as their
sensors, plans, and actions may fail unexpectedly, e.g., the
weather may render a robots camera useless, its grip too
slippery, etc. The explosive number of states in such
environments prohibits any resource-bounded designer
from predicting all failures at design time. This situation is
exacerbated in multi-agent settings, where interactions
between agents increase the complexity. For instance, it is
difficult to predict an opponent{\textquoteright}s behavior.
Agents in such environments must therefore rely on runtime execution monitoring and diagnosis to detect a failure,
diagnose it, and recover. Previous approaches have focused
on supplying the agent with goal-attentive knowledge of
the ideal behavior expected of the agent with respect to its
goals. These approaches encounter key pitfalls and fail to
exploit key opportunities in multi-agent settings: (a) only a
subset of the sensors (those that measure achievement of
goals) are used, despite other agents{\textquoteright} sensed behavior that
can be used to indirectly sense the environment or
complete the agent{\textquoteright}s knowledge; (b) there is no monitoring
of social relationships that must be maintained between the
agents regardless of achievement of the goal (e.g.,
teamwork); and (c) there is no recognition of failures in
others, though these change the ideal behavior expected of
an agent (for instance, assisting a failing teammate).
To address these problems, we investigate a novel
complementary paradigm for multi-agent monitoring and
diagnosis. Socially-Attentive Monitoring (SAM) focuses on
monitoring the social relationships between the agents as
they are executing their tasks, and uses models of multiple
agents and their relationships in monitoring and diagnosis.
We hypothesize that failures to maintain relationships
would be indicative of failures in behavior, and diagnosis
of relationships can be used to complement goal-attentive
methods. In particular, SAM addresses the weaknesses
listed above: (a) it allows inference of missing knowledge
and sensor readings through other agents{\textquoteright} sensed behavior;
(b) it directly monitors social relationships, with no
attention to the goals; and (c) it allows recognition of
failures in others (even if they are not using SAM!).
SAM currently uses the STEAM teamwork model, and a
role-similarity relationship model to monitor agents. It
relies on plan-recognition to infer agents{\textquoteright} reactive-plan
hierarchies from their observed actions. These hierarchies are compared in a top-down fashion to find relationship
violations, e.g., cases where two agents selected different
plans despite their being on the same team. Such detections
trigger diagnosis which uses the relationship models to
facilitate recovery. For example, in teamwork, a
commitment to joint selection of plans further mandates
mutual belief in preconditions. Thus a difference in
selected plans may be explained by a difference in
preconditions, and can lead to recovery using negotiations.
We empirically and analytically investigate SAM in two
dynamic, complex, multi-agent domains: the ModSAF
battlefield simulation, where SAM is employed by
helicopter pilot agents; and the RoboCup soccer simulation
where SAM is used by a coach agent to monitor teams{\textquoteright}
behavior. We show that SAM can capture failures that are
otherwise undetectable, and that distributed monitoring is
better (correct and complete) detection) and simpler (no
representation of ambiguity) than a centralized scheme
(complete and incorrect, requiring representation of
ambiguity). Key contributions and novelties include: (a) a
general framework for socially-attentive monitoring, and a
deployed implementation for monitoring teamwork; (b)
rigorously proven guarantees on the applicability and
results of practical socially-attentive monitoring of
teamwork under conditions of uncertainty; (c) procedures
for diagnosis based on a teamwork relationship model.
Future work includes the use of additional relationship
models in monitoring and diagnosis, formalization of the
social diagnosis capabilities, and further demonstration of
SAM{\textquoteright}s usefulness in current domains and others.},
	author = {Gal Kaminka}
}
