A Reference Model for IoT Embodied Agents Controlled by Neural Networks
Nathalia Nascimento, Paulo Alencar, Donald Cowan, Carlos Lucena
AA Reference Model for IoT Embodied AgentsControlled by Neural Networks
Nathalia Nascimento
David R. Cheriton School of Computer ScienceUniversity of Waterloo (UW)
Waterloo, [email protected]
Paulo Alencar
David R. Cheriton School of Computer ScienceUniversity of Waterloo (UW)
Waterloo, [email protected]
Donald Cowan
David R. Cheriton School of Computer ScienceUniversity of Waterloo (UW)
Waterloo, [email protected]
Carlos Lucena
Department of InformaticsPontif´ıcia Universidade Catolica (PUC-Rio)
Rio de Janeiro, RJ, [email protected]
Abstract —Embodied agents is a term used to denote intelligentagents, which are a component of devices belonging to theInternet of Things (IoT) domain. Each agent is provided withsensors and actuators to interact with the environment, andwith a ‘controller’ that usually contains an artificial neuralnetwork (ANN). In previous publications, we introduced threesoftware approaches to design, implement and test IoT embodiedagents. In this paper, we propose a reference model based onstatecharts that offers abstractions tailored to the developmentof IoT applications. The model represents embodied agents thatare controlled by neural networks. Our model includes theANN training process, represented as a reconfiguration stepsuch as changing agent features or neural net connections. Ourcontributions include the identification of the main characteristicsof IoT embodied agents, a reference model specification based onstatecharts, and an illustrative application of the model to supportautonomous street lights. The proposal aims to support the designand implementation of IoT applications by providing high-leveldesign abstractions and models, thus enabling the designer tohave a uniform approach to conceiving, designing and explainingsuch applications.
Index Terms —Embodied Agent; Artificial Neural Network;Internet of Things (IoT); IoT Agents; Statecharts
I. I
NTRODUCTION
Approaches that incorporate agents, Machine Learning(ML) and Internet of Things (IoT) are being constantly devel-oped [1]. These approaches have gained prominence becauseof the requirements of some IoT applications to supportcollective decision making in real-time within distributedsmart environments [1]. In particular, in our previous researchwork (e.g. [2], [3]), we have proposed the use of embodiedagents to denote intelligent agents which are embedded inthe design of IoT applications. Each agent is provided withsensors and actuators to interact with the environment, andwith a ‘controller’ that usually contains an artificial neuralnetwork (ANN). Depending on the application task includingan ANN, the agent is able to make decisions, predictions orclassifications based on data collected from the environment. However, there are still challenges related to the specifi-cation of intelligent embodied agent behavior in the face ofan unpredictable and dynamic environment [4]. In order toaddress some of these challenges, there is a need for ap-proaches that integrate Artificial Intelligence techniques, suchas Machine Learning and Multiagent Systems, and SoftwareEngineering (SE) approaches. According to Harel et al. (2019)[5], SE techniques, such as statecharts [6], can provide AI-based systems with intuitive and clear specifications that canresult in systems that are easier to enhance and maintaincompared to current uses of AI in system development.In this paper, we introduce a reference model for IoTembodied agents and their interactions with the environmentbased on statecharts. Although there are many definitions forreference models, we assume a reference model is “an abstractframework for understanding significant relationships amongthe entities of some environment” [7]. Reference models cansupport the design and implementation of IoT applications byproviding high-level design abstractions, thus making it easierto conceive and design these applications. In particular, wedecomposed the part of the system based on neural networksinto structural elements, which have been proposed by Harel etal. (2020) [4] as a solution towards making it easier to explainand verify ML-based systems.The identification of the main characteristics of IoT em-bodied agents is based on three software approaches that wepreviously developed for IoT embodied agents: (i) a softwareframework for the development of embodied agents for IoTapplications [2]; (ii) an approach to configure embodied agentsbased on the environment [3]; and (iii) a method for testingembodied agents controlled by neural nets [8].The paper is structured as follows. Section II surveys themain concepts related to IoT embodied agents and theirrequirements, taking previously published work into account.Section III provides high-level statechart models of embodiedagents, and then we refine each component, describing, for a r X i v : . [ c s . A I] F e b xample, the interaction between agent sensors and the inputneurons of its ANN controller. Our model includes the ANNtraining process, representing it as configuration states such asselecting different sensors belonging to an agent or adjustingthe weights of the neural network connections. Then, inSection IV, we extend these models to represent an illustrativeapplication that uses IoT embodied agents. Section V presentsconclusions and future work.II. B ACKGROUND :This section provides an overview of IoT embodied agentsand statecharts, which are the key concepts of our approach.
A. IoT Embodied Agents
Agents that can interact with other agents or the envi-ronment in which the applications are embedded are called embodied agents [3]. Examples of such agents can be found inareas such as autonomous robots and cyber-physical systems.The first step in creating an embodied agent is to design theagent body, which determines the agent interaction with ap-plication sensors and actuators and the corresponding signalsthat the agent will send and receive [9]. As a second step, theagent is provided with a controller that instructs the agent howto behave based on signals from the agent. This controller isusually represented by an artificial neural network (ANN). wheels headlights speakerradar vision GPS microphoneground
Fig. 1. An example of an IoT embodied agent.
Figure 1 illustrates an IoT embodied agent in an autonomouscar scenario. In this example, the body of the agent is a carwith four wheels, GPS, headlights, and a speaker. As describedpreviously, an embodied agent must have a local analysisarchitecture to sense the environment and behave accordingly.In this example, the autonomous car uses a neural net. There isan input neuron for each one of the car sensors and an outputneuron for each one of the motors and actuators. The neuronoutput values may determine the direction of the wheels andwhether the car turns on its headlights.
B. Statecharts
Statecharts is a formal method that extends the formalismof state machines and state diagrams with essentially threeelements: hierarchy, concurrency and communication [6]. Thisformal method has been used to specify reactive systems, which are systems that respond to external and internal stimuli.The main elements of Statecharts are: • State and Events: a description of the dynamic behaviorof a complex system [6]; • Transition: a transition is the connection between twostates (source and destination) and can be representedby the triple: e[c] / a, in which “e” is an event, “c” is acondition, and “a” is an action. • Composition (or Clustering): introduces the XOR(exclusive-or) decomposition of states, which captures theproperty that, being in a state, the system must be in onlyone of its composite components; • Orthogonality: independence and concurrency. It intro-duces the AND decomposition of states, which capturesthe property that, being in a state, the system must be inall of its AND components. • History. In statecharts syntax, entering the history statemeans to enter the most recently visited state.In short, state diagrams are simply directed graphs, withnodes denoting states, and arrows denoting transitions. De-pending on the tool that is used to design statecharts, a statecan be represented by different graphical notations. States areusually represented by rounded rectangles.III. A R
EFERENCE M ODEL FOR I O T E
MBODIED A GENTS
In this section, we introduce high-level statechart modelsof embodied agents, and then we refine the boxes of eachcomponent such as the Body and Controller.
A. Preliminary embodied agent concepts
Embodied agents are “autonomous agents structurally cou-pled with their environment” [10]. According to Quick etal. [11], a system X is embodied in an environment E ifperturbatory channels exist between the two. In other words,X is embodied in E if for every time t at which both Xand E exist, some subset of E’s possible states have thecapacity to perturb X’s state, and some subset of X’s possiblestates have the capacity to perturb E’s state [11]. Accordingly,our proposed model must contain at least two components:embodied agents and the environment.
1) Agent Body:
Basically, an agent body is composed ofsensors and effectors. According to [12], the agent “interactswith its environment via interfaces of two types: sensors fromwhich the agent receives events that carry information fromits environment, and effectors by which the agent performsactions that are intended to affect its environment.”Auerbach and Bongard state that “different parts of the robotbody are responsible for different behaviors. For example,wheels or legs may allow for movement while a separategripper allows for object manipulation” [13]. Based on theprevious observations, our model describes the effects that theagent body has on its behavior.
2) Agent Behavior:
As we discuss in [2], an autonomousembodied agent must execute a control loop with three keyactivities in sequence, namely: (i) collect data; (ii) makedecisions; and (iii) take actions. The task of data collectionocuses on processing information coming from devices, suchas reading data from input sensors. The collected data are usedto set the inputs of the agent controller. Then, the controllerprocesses a decision to be taken by the agent. This controllercan be a finite state machine (FSM) or an ANN, as shown inFigure 2. Embodied agents act based on the controller output.An action such as an effector activity can be to interact withother agents, to send messages, or to set actuator devices, thusmaking changes to the environment.
Fig. 2. Control loop executed by embodied agents.
3) Agent Controller:
In addition, the intelligent behaviorof an embodied agent arises out of the coupling of its body,its controller, and its environment. According to Auerbachand Bongard [13], the complexity of an agent controller andbody must match the complexity of a given task. However,more complex task environments require the agent to exhibitmore different behaviors. Therefore, it is necessary to find thecombination of agent body and controller that allows the agentto behave accordingly.Based on the previous observations, our model also de-scribes the effects of the agent controller on its behavior. Inaddition, it includes a new component to represent the task’senvironment.
B. Preliminary reconfiguration concept
According to Karsai and Spanoudakis [14], the reconfig-uration mechanism must be associated with an evaluationmodule that represents how the system performance will bemonitored and assessed, and how the evaluation result willaffect the system architecture. In addition, the reconfigurationmechanism should be capable of interacting with the evaluator,being triggered by it.The evaluation module measures a set of variables from theenvironment, and it can trigger the reconfiguration mechanismif it identifies a change in the set of measured variables.Based on the previous observations, our model includes anew component to represent task evaluation, which is able totrigger the reconfiguration process.
C. Statecharts Model
Statecharts make it possible to view the description ofthe solution at different levels of detail, supporting a top-down behavioral specification. Therefore, it facilitates the understanding of a complex architecture. Other relevant char-acteristics are composition, hierarchy, and inter-componentcommunications. Thus, our model can use transitions to ex-plain the perturbations that occur between the environment andagents, which are the main components of embodied agents,as explained in Section III-A.A high-level specification is given in Figure 3, whichcontains the full statechart of an embodied agent. The maincomponents of configurable embodied agents will be describedin detail in the next subsections, in which we will look insideeach one of these components.
UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED
State1Self-Configurable Embodied AgentEmbodied AgentEmbodied Agents - i E [1...N]Agent ConfigurationidleController configureconfigure
Agent BehaviorEmbodied Agent - i-1Embodied Agent - iAgent ConfigurationBehavioral Task Evaluation reconfigure senseset
Task EvaluationPerformance EvaluationPrediction Evaluation affects set affectreconfigure
ContextDatasetEnvironmentContext1 CurrentContext set decide setadjust
Perception DecisionEffectorEnvironmentVariables setconfigure perturbperturb
Body Context set
StateMachine5::StatechartDiagram1
Fig. 3. General statechart of IoT embodied agents - putting the maincomponents together.
The diagram in Figure 3 shows the states that are respon-sible for configuring an embodied agent based on its task.The agent comes out of the idle state when the system isinitialized. As shown, we represented an embodied agent asa super state, and we assumed some physical and functionaldescription of the system to describe its actions. Then, thisstate was hierarchically decomposed into agent configurationand agent behavior. The component of agent configurationis responsible for configuring the agent body and controller.Once the agent is configured, it is ready to behave in harmonywith the environment. The agent behavior consists of threecomponents: (i) perception; (ii) decision; and (iii) effect. Asshown, the perception, decision and effector capabilities of theagent are directly related to how the body and controller ofthe agent are configured. To represent it, we use the transition“set” between the components of configuration and behavior.Internal transitions have been omitted for simplicity.Figure 3 also depicts inter-component communications be-tween the agent behavior and environment components. Asshown, the variables of the environment perturb the agentbehavior. As Perception is the default state among Perception,Decision and Effector, the default way of entering this groupof states is by the Perception state. In short, environment vari-ables perturb the agent through perception. On the other hand,the effector state perturbs the environment. We will describethe details of these interactions in subsequent sections.he unique way of entering the Task Evaluation componentis through the environment component via “set.” As shown inFigure 3, after evaluating the task, the system returns to theinitial state, that is the agent configuration, resulting in a cycle.By entering the agent configuration state, the default option isto reconfigure the whole agent unless the transition “adjust” isselected. If “adjust” is selected, only the agent controller willbe reconfigured.
1) Agent Configuration - Body and Controller:
A refine-ment of the agent configuration state yields Figure 4. Afterexamining the internals of the body component, we cansee that the process of configuring the agent body consistsof enabling or disabling some inputs, such as sensors, andoutputs, such as actuators, which are represented with dis-abled/enabled substates. According to Harel (1987) [6], “anobvious application of orthogonality is in splitting a state inaccordance with its physical subsystems.” Thus, we representthe process of configuring agent body inputs and outputs asindependent states. In other words, selecting the components tocompose the body outputs does not depend on the componentsthat are selected to compose its inputs. By default, all inputsand outputs are unselected, but we include a shallow history(“H”) state in each component to allow the system to enterthe most recently visited of the two, and enter “disabled” ifthe system is there for the first time.
UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED
State1Agent ConfigurationBodyInputs - i E [1..N]Sensor 1disabled selectdeselect enabledCommunication Channel - inputdisabled enabled selectdeselect
Outputs - i E [1..N]idle configure
Actuator 1disabledCommunication Channel - outputenabledenableddisabled selectdeselectselectdeselect
Cobtroller - Neural NetworkConnections - i E [1..N]Connection 1off on update connect set weight ... disconnect change weight Connectionsbetweenneurons -weights
Task Evaluation adjust add connectreconfigureHHHH H
NeuronsInput NeuronsOutput Neurons set
Hidden Neurons set
Activation FunctionSigmoid ReLubinary
Hselectconfigureadd use
StateMachine9::BodyStateDiagram
Fig. 4. Body and Controller Configuration components of the embodied agentstatechart.
To configure the agent controller, there is a transitionbetween the body inputs and the input neurons, and a transitionbetween body outputs and output neurons. In other words,input neurons are set according to the enabled body inputs,and the output neurons are set according to the enabled bodyoutputs. Each neuron may be connected to more than oneneuron. So, a neuron adds a connection to the system and thisconnection is connected to a neuron (another or the same one). This statechart component represents the weight configurationof a neural network, in which the output of a neuron mayenter another neuron as an input with a specific weight. Afterzooming-in to see more details of the agent controller, it ispossible to observe that the “adjust” transition segment, whosesource is a state at the Task Evaluation component and directlyassociated with the connections component, is allowing thereconfiguration process to result only in enabling, disabling orupdating connections.
2) Agent Behavior:
As explained previously, the behaviorof the agent varies based on the physical components thatare operated by the agent and its controller. In short, thebehavior of embodied agents is composed of three activities(see subsection III-A2): perception, decision and effect. Ac-cording to Figure 5, the perception task focuses on processinginformation coming from devices, such as reading data frominput sensors. The collected data are used to set the inputs ofthe agent controller. Then, the controller processes a decisionto be taken by the agent. Finally, the agent acts based onthe controller output. An action (effector activity) can be tointeract with other agents, to send messages, or to set actuatordevices, thus making changes to the environment.
UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED
State1Embodied AgentAgent Configuration Agent BehaviorPerception DecisionEffectorBodyController set communicate [since in Sensor1.enabled] [since in Sensor2.enabled] [since in Communication.enabled]
Inputsoutputs listeningreading Sensor 1reading Sensor 2 . . . setenable setting Actuator 1 . . . set [since in Communication.enabled] [since in Actuator1.enabled]
Environment running neural networkprocessing outputs set input setcalculateperturbenable sense perturbset processing inputs
StateMachine10::BehaviorStateDiagram
Fig. 5. Behavior component of the embodied agent statechart.
Selected inputs have an effect on the perception state,while outputs determine the effector state. For example, ifthe communication input is enabled, the agent will be ableto listen to other agents. If the agent has a sensor A, the agentwill be able to sense variable A of the environment; and if thecommunication output is activated, the agent will be able tocommunicate with other agents.Note that we have used some joint states in Figure 5. Whena state emanates from a joint state, its source set consistsof the sources of its constituent segments. For example,entering the substate “running neural network” depends on theincoming transitions from the states “configuring controller”and “processing inputs.” In other words, how the collectedinputs are processed to produce outputs depends on the neuralnetwork configuration. Consequently, the controller is crucialo the decision state. Perception and Effector substates alsohave more than one source. The transition segment “perturb”from Environment and the segments “enable” from Inputs areconnected to enter the Perception substates, and this meansthat sensing a specific environment variable depends on theagent’s sensors. Upon sensing some sensors on the “Percep-tion” component, the “set” transition will be taken and the ac-tion “processing inputs” will be carried out. Notwithstanding,entering Effector substates depends on the outgoing transitionsfrom body outputs through actuators that are enabled and fromthe Decision state through output values that were calculatedby the neural network. Results from Effector componentsperturb the environment, since some variables can be updatedaccording to the agent’s actions. For example, if the agentturns on the light, it will change the value of the brightnessvariable.
3) Environment and Task Evaluation:
The “Environment”component is composed of variables and contexts [15], asdepicted in Figure 6. Variables represent perceivable char-acteristics of this environment. The “Variables” componentconsists of N orthogonal substates, in which each substateis responsible for controlling a specific variable of the en-vironment, such as brightness and humidity. They are alsoresponsible for updating. Based on the variables’ values, aspecific context is selected. For example, supposing we havethe contexts of “day” and “night”, the current context will beselected according to the values of “brightness” and “time”variables.
UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED
State1Environment Task EvaluationVariables i - E [1..N] calculateupdateupdate
Var 2Contexts i - E [1..N]Var 1 evaluating scoreproducing scorereading target variables updateupdateHselect
Context 1Context 2Context N
Context doesnot setenvironmentalvariables. Envthat sets thecontext selectJoin: um ou outro - reconfiguropelo contexto ou pela avaliacao. JOIN - reconfiguro com base nocontexto e na avaliacao- PONTUACAO 10 A NOITE EHDIFERENTE DE PONTUACAO10 DURANTE DIA evaluate Score isevaluatedaccordingto theselectedcontext
Embodied Agent reconfigure
Agent ConfigurationBody Controller adjust
StateMachine11::EnvDiagram
Fig. 6. Statechart of Environment and Task Evaluation components.
In short, the “Task Evaluation” component is responsible forexamining the environment to investigate how the collectionof embodied agents can be configured to deal with the systemrequirements and environmental changes. For this purpose, itwill inspect specific variables of the environment in order tocalculate a score. However, the significance of this score variesaccording to the current context, as we discuss in [15]. In [16],the authors illustrate a scenario with artificial agents where the evaluation policy varies according to the context. We representthis situation with a joint state. For example, if we arecalculating energy consumption, it is expected that the energythat is spent during the night will be greater than during theday. So consuming 10kW during the day has a different impactthan consuming this same energy value during the night.Further, the agent’s reconfiguration will operate according tothis evaluation. It can trigger the transition “reconfigure” byrestarting the whole process of configuring an agent, as shownin Figure 3, or just trigger the transition “adjust,” reconfiguringonly the neural network connections, as shown in Figure 4.IV. I
LLUSTRATIVE E XAMPLE : A
UTONOMOUS S TREET L IGHTS
This section introduces an illustrative example to show anapplication of the proposed reference model. In particular,we illustrate the statechart of embodied agents in a specificapplication scenario: autonomous street lights, in which eachstreet light contains an embodied agent. In this scenario, eachstreet light may contain a lighting sensor, motion sensor,wireless communication, wireless speaker and light switch ap-paratus. As we describe in Figure 7, configuring the agent bodyconsists of disabling or enabling some inputs and outputs. Forexample, we may have a street light agent containing only alighting sensor as its input, and a light switch apparatus asits output; or we can create more robust street light agents byenabling them to communicate among themselves by meansof wireless devices.
UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED
Street Light BehaviorEffectorPerceptionState4 EnvironmentContext 1 set
ContextLightingOFFDayNightStreet Light - Embodied AgentStreet Light ConfigurationBody enableddisabledInputsOutputsLighting Sensor enableddisabled H Wireless SpeakerMotion Sensor H disabled enabledWireless Microphone H disabled enabledLight Switch H disabled enabled H disabled enabled Decisionactivating light Hselect
Environment perturb perturb sensing ambient brightnessreceiving data from the neighboring streetlightsconversing with neighboring streetlightsOFF DIM ONControllerNeuronsInput NeuronsInput Neuron 1on off add
Input Neuron 2 add
Input Neuron 3 add remove
Output NeuronsOutput Neuron 1on off addremove
Output Neuron 2 add calculating people flow
StateMachine6::StatechartStreetLight
Fig. 7. The Body and Controller components of the designed autonomousstreet lights.
Configuring the agent controller also consists of disabling orenabling some components. As shown in Figure 7, the numberof neurons varies according to the sensors and actuators thatwere enabled. Accordingly, there will be an input neuronfor each activated sensor and an output neuron for eachactivated output. To simplify this figure, we did not illustratethe Connections component shown in Figure 4. Basically, if aeuron is in the “on” state, that is it is active, it will be able tobe connected to other neurons. For example, an output neuroncan connect to an input neuron, consequently configuring arecurrent neural network.As previously described, agent behavior is a consequenceof the body and controller configuration, and the environmentperturbation. If a specific sensor is enabled, the street light willbe able to sense its specific variable, as described in Figure5. For example, as shown in Figure 8, if the motion sensoris enabled, the agent will be able to calculate the flow ofpeople in the environment. In the same way, if it has wirelesscommunication, it may be able to receive communicationsignals from the other street lights.
UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED UNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTEREDUNREGISTERED
State4 EnvironmentContext 1 set
ContextLightingOFFDayNightStreet Light - Embodied AgentStreet Light ConfigurationBody enableddisabledInputsOutputsLighting Sensor enableddisabled H Wireless SpeakerMotion Sensor H disabled enabledWireless Microphone H disabled enabledLight Switch H disabled enabled H disabled enabled Street Light BehaviorPerceptionsensing ambient brightnesscalculating people flowreceiving data from the neighboring streetlightsEffectorDecisionconversing with neighboring streetlightsactivating lightOFF DIM ON Hselect
Environment perturb perturb
StateMachine6::StatechartStreetLight
Fig. 8. The Behavior component of the designed autonomous street lights.
Based on its outputs, the wireless speaker and the lightswitch apparatus, actions that can be taken by this agentare: “conversing with neighboring streetlights” and “activatinglight.” For example, if an agent is able to activate the light,how many levels of brightness can this agent generate? Asshown, to activate the light, the agent must select one of thefollowing substates: OFF, DIM or ON. This selection dependson the results originated in the Decision state, as explained insubsection III-C2.V. C
ONCLUSIONS AND F UTURE W ORK
We have identified the main characteristics of IoT embodiedagents, and used them as a basis to propose a reference modelbased on statecharts. Meanwhile, we introduced a specificationfor embodied agents, hierarchically decomposing them intomeaningful components. Our focus was not on providing ahighly elaborate description, covering all possibly occurringconcepts, but one that fits a broad variety of embodied agentmodels in different domains, as required by the wide rangeof IoT applications. Although our reference model proposalis at a high level of abstraction, we argue that it contributesparticularly well to a view of IoT embodied agents, clarifyingthe relationship among their components, such as sensors and neural networks, and the complex and dynamic interactionsbetween agents and their environments.We have introduced this reference model so that it couldserve to guide the development of software approaches thatsupport the design, testing and implementation of embodiedagents. Interesting future directions are to derive methodsfor explaining and verifying intelligent agent behavior andto extend the current approach to design IoT applications inspecific domains such as smart cities.A
CKNOWLEDGMENT
This work was supported by the Natural Sciences andEngineering Research Council of Canada (NSERC), and theOntario Research Fund (ORF) of the Ontario Ministry ofResearch, Innovation, and Science, and the Centre for Com-munity Mapping (COMAP).R
EFERENCES[1] C. Savaglio, M. Ganzha, M. Paprzycki, C. B˘adic˘a, M. Ivanovi´c, andG. Fortino, “Agent-based internet of things: State-of-the-art and researchchallenges,”
Future Generation Computer Systems , vol. 102, pp. 1038–1053, 2020.[2] N. M. do Nascimento and C. J. P. de Lucena, “Fiot: An agent-basedframework for self-adaptive and self-organizing applications based onthe internet of things,”
Information Sciences , vol. 378, pp. 161–176,2017.[3] N. Nascimento, P. Alencar, C. Lucena, and D. Cowan, “An iot analyticsembodied agent model based on context-aware machine learning,” , pp. 5170–5175,2018.[4] D. Harel, A. Marron, and J. Sifakis, “Autonomics: In search of afoundation for next-generation autonomous systems,”
Proceedings ofthe National Academy of Sciences , vol. 117, no. 30, pp. 17 491–17 498,2020.[5] D. Harel, A. Marron, A. Rosenfeld, M. Vardi, and G. Weiss, “Labordivision with movable walls: Composing executable specifications withmachine learning and search,” 2019.[6] D. Harel, “Statecharts: A visual formalism for complex systems,”
Science of computer programming , vol. 8, no. 3, pp. 231–274, 1987.[7] C. M. MacKenzie, K. Laskey, F. McCabe, P. F. Brown, R. Metz, andB. A. Hamilton, “Reference model for service oriented architecture 1.0,”
OASIS standard , vol. 12, no. S 18, 2006.[8] N. Nascimento, P. Alencar, C. Lucena, and D. Cowan, “A metadata-driven approach for testing self-organizing multiagent systems,”
IEEEAccess , vol. 8, pp. 204 256–204 267, 2020.[9] S. Nolfi, J. Bongard, P. Husbands, and D. Floreano, “Evolutionaryrobotics,”
Springer Handbook of Robotics , pp. 2035–2068, 2016.[10] S. Franklin, “Autonomous agents as embodied ai,”
Cybernetics &Systems , vol. 28, no. 6, pp. 499–520, 1997.[11] T. Quick, K. Dautenhahn, C. L. Nehaniv, and G. Roberts, “On bots andbacteria: Ontology independent embodiment,”
European Conference onArtificial Life , pp. 339–343, 1999.[12] D. Kinny, “Reliable agent computation: An algebraic approach,”
PacificRim International Workshop on Multi-Agents , pp. 31–47, 2001.[13] J. Auerbach and J. C. Bongard, “Evolution of functional specialization ina morphologically homogeneous robot,”
Proceedings of the 11th AnnualConference on Genetic and Evolutionary Computation , pp. 89–96, 2009.[14] G. Karsai and J. Sztipanovits, “A model-based approach to self-adaptivesoftware,”
IEEE Intelligent Systems and Their Applications , vol. 14,no. 3, pp. 46–53, 1999.[15] N. Nascimento, P. Alencar, C. Lucena, and D. Cowan, “A context-awaremachine learning-based approach,”
Proceedings of the 28th Annual In-ternational Conference on Computer Science and Software Engineering ,pp. 40–47, 2018.[16] G. Pezzulo and S. Nolfi, “Making the environment an informativeplace: A conceptual analysis of epistemic policies and sensorimotorcoordination,”