{"type":"ScholarlyArticle","title":"Real-Time BDI Agents: A Model and Its Implementation","authors":[{"name":"Andrea Traldi","slug":"andrea-traldi","given":"Andrea","family":"Traldi","affiliation":"University of Trento"},{"name":"Francesco Bruschetti","slug":"francesco-bruschetti","given":"Francesco","family":"Bruschetti","affiliation":"University of Trento"},{"name":"Marco Robol","slug":"marco-robol","given":"Marco","family":"Robol","affiliation":"University of Trento"},{"name":"Marco Roveri","slug":"marco-roveri","given":"Marco","family":"Roveri","affiliation":"University of Trento"},{"name":"Paolo Giorgini","slug":"paolo-giorgini","given":"Paolo","family":"Giorgini","affiliation":"University of Trento"}],"abstract":"The BDI model proved to be effective for the developing of applications requiring high-levels of autonomy and to deal with the complexity and unpredictability of real-world scenarios. The model, however, has significant limitations in reacting and handling contingencies within the given real-time constraints. Without an explicit representation of time, existing real-time BDI implementations overlook the temporal implications during the agent’s decision process that may result in delays or unresponsiveness of the system when it gets overloaded. In this paper, we redefine the BDI agent control loop inspired by traditional and well establish algorithms for real-time systems to ensure a proper reaction of agents and their effective application in typical real-time domains. Our model proposes an effective real-time management of goals, plans, and actions with respect to time constraints and resources availability. We propose an implementation of the model for a resource-collection video-game and we validate the approach against a set of significant scenarios.","doi":"10.24963/ijcai.2022/73","url":"https://ijcai.org/proceedings/2022/73","pdf":"https://ijcai.org/proceedings/2022/0073.pdf","markdown":"https://ijcai.org/proceedings/2022/73.md","bibtex":"https://ijcai.org/proceedings/2022/bibtex/73","volume":{"slug":"2022","title":"Proceedings of the Thirty-First International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2022","url":"https://ijcai.org/proceedings/2022/","year":2022,"location":"Vienna","dates":"23-29 July 2022","editors":"Luc De Raedt","isbn":"978-1-956792-00-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2022"},"section":"Agent-based and Multi-agent Systems","track":"Main Track","number":73,"pages":{"first":511,"last":517},"keywords":["Planning and Scheduling: Scheduling","Planning and Scheduling: Real-time Planning","Agent-based and Multi-agent Systems: Agent Theories and Models","Knowledge Representation and Reasoning: Knowledge Representation Languages","Agent-based and Multi-agent Systems: Engineering Methods, Platforms, Languages and Tools"],"videos":[{"label":"Video #1","url":"https://slideslive.com/38986938","length_sec":92,"provider":"slideslive"},{"label":"Video #2","url":"https://slideslive.com/38985081","length_sec":289,"provider":"slideslive"}],"references":[{"position":1,"raw":"[Alzetta et al., 2020] F. Alzetta, P. Giorgini, M. Marinoni, and D. Calvaresi. RT-BDI: A real-time BDI model. In Ad- vances in Practical Applications of Agents, Multi-Agent Systems, and Trustworthiness, volume 12092 of LNCS, pages 16-29. Springer, 2020.","title":"RT-BDI: A real-time BDI model","authors":"F Alzetta, P Giorgini, M Marinoni, D Calvaresi","year":"2020","venue":"Advances in Practical Applications of Agents, Multi-Agent Systems, and Trustworthiness","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Bartheye and Jacopin, 2009a] Olivier Bartheye and Éric Ja- copin. A PDDL-Based Planning Architecture to Support Arcade Game Playing, pages 170-189. Springer, 2009.","title":"Olivier Bartheye and Éric Jacopin. A PDDL-Based Planning Architecture to Support Arcade Game Playing","authors":"Jacopin Bartheye","year":"2009","venue":null,"doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Bartheye and Jacopin, 2009b] Olivier Bartheye and Éric Ja- copin. A Real-Time PDDL-based Planning Component for Video Games. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertain- ment, 5(1):130-135, Oct. 2009.","title":"Olivier Bartheye and Éric Jacopin. A Real-Time PDDL-based Planning Component for Video Games","authors":"Jacopin Bartheye","year":"2009","venue":"Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Bellifemine et al., 1999] Fabio Bellifemine, Agostino Poggi, and Giovanni Rimassa. Jade-a fipa-compliant agent framework. In Proceedings of PAAM, volume 99, page 33. London, 1999.","title":"Jade-a fipa-compliant agent framework","authors":"Fabio Bellifemine, Agostino Poggi, Giovanni Rimassa","year":"1999","venue":"Proceedings of PAAM","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Benton et al., 2012] J. Benton, A. J. Coles, and A. Coles. Temporal planning with preferences and time-dependent continuous costs. In ICAPS 2012. AAAI, 2012.","title":"Temporal planning with preferences and time-dependent continuous costs","authors":"J Benton, A J Coles, A Coles","year":"2012","venue":"ICAPS 2012","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Bordini et al., 2002] R. H. Bordini, A L. C. Bazzan, R. de Oliveira Jannone, D. M. Basso, R. M. Vicari, and V. R. Lesser. AgentSpeak(XL): efficient intention selec- tion in BDI agents via decision-theoretic task scheduling. In AAMAS, pages 1294-1302. ACM, 2002.","title":"AgentSpeak(XL): efficient intention selection in BDI agents via decision-theoretic task scheduling","authors":"R H Bordini, L C Bazzan, R De Oliveira Jannone, D M Basso, R M Vicari, V R Lesser","year":"2002","venue":"AAMAS","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Bordini et al., 2007] R. H. Bordini, J. F. Hübner, and M. Wooldridge. Programming multi-agent systems in AgentSpeak using Jason. John Wiley & Sons, 2007.","title":"Programming multi-agent systems in AgentSpeak using Jason","authors":"R H Bordini, J F Hübner, M Wooldridge","year":"2007","venue":null,"doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Bozzano et al., 2021] Marco Bozzano, Alessandro Cimatti, and Marco Roveri. A comprehensive approach to on-board autonomy verification and validation. ACM Trans. Intell. Syst. Technol., 12(4):46:1-46:29, 2021.","title":"A comprehensive approach to on-board autonomy verification and validation","authors":"Marco Bozzano, Alessandro Cimatti, Marco Roveri","year":"2021","venue":"ACM Trans. Intell. Syst. Technol","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Busetta et al., 1999] Paolo Busetta, Ralph Rönnquist, An- drew Hodgson, and Andrew Lucas. Jack intelligent agents- components for intelligent agents in java. AgentLink News Letter, 2(1):2-5, 1999.","title":"Jack intelligent agentscomponents for intelligent agents in java","authors":"Paolo Busetta, Ralph Rönnquist, Andrew Hodgson, Andrew Lucas","year":"1999","venue":"AgentLink News Letter","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Buttazzo, 2011] G. C. Buttazzo. Hard real-time computing systems: predictable scheduling algorithms and applica- tions. vol. 24. Springer Science & Business Media, 2011.","title":"Hard real-time computing systems: predictable scheduling algorithms and applications","authors":"G C Buttazzo","year":"2011","venue":null,"doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Calvaresi et al., 2018a] Davide Calvaresi, Giuseppe Al- banese, Mauro Marinoni, Fabien Dubosson, Paolo Ser- nani, Aldo Franco Dragoni, and Michael Schumacher. Timing reliability for local schedulers in multi-agent sys- tems. In RTcMAS@ IJCAI, pages 1-15, 2018.","title":"Timing reliability for local schedulers in multi-agent systems","authors":"Calvaresi","year":"2018","venue":"RTcMAS@ IJCAI","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Calvaresi et al., 2018b] Davide Calvaresi, Giuseppe Al- banese, Mauro Marinoni, Fabien Dubosson, Paolo Ser- nani, Aldo Franco Dragoni, and Michael Schumacher. Timing reliability for local schedulers in multi-agent sys- tems. In RTcMAS@IJCAI, volume 2156 of CEUR Work- shop Proceedings, pages 1-15. CEUR-WS.org, 2018.","title":"Timing reliability for local schedulers in multi-agent systems","authors":"Calvaresi","year":"2018","venue":"CEUR Workshop Proceedings","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Calvaresi et al., 2021] Davide Calvaresi, Yashin Dicente Cid, Mauro Marinoni, Aldo Franco Dragoni, Amro Najjar, and Michael Schumacher. Real-time multi-agent systems: rationality, formal model, and empirical results. Auton. Agents Multi Agent Syst., 35(1):12, 2021.","title":"Real-time multi-agent systems: rationality, formal model, and empirical results","authors":"Davide Calvaresi, Yashin Dicente Cid, Mauro Marinoni, Aldo Franco Dragoni, Amro Najjar, Michael Schumacher","year":"2021","venue":"Auton. Agents Multi Agent Syst","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Ceballos et al., 2011] A. Ceballos, S. Bensalem, A. Cesta, L. De Silva, S. Fratini, F. Ingrand, J Ocon, A. Orlandini, G. Py, K. Rajan, T. Rasconi, and M. va Winnendael. A Goal-Oriented Autonomous Controller for Space Explo- ration. In Proc. of ASTRA 2011. ESA/ESTEC, 2011.","title":"A Goal-Oriented Autonomous Controller for Space Exploration","authors":"A Ceballos, S Bensalem, A Cesta, L De Silva, S Fratini, F Ingrand, A Ocon, G Orlandini, K Py, T Rajan, M Rasconi, Winnendael","year":"2011","venue":"Proc. of ASTRA 2011. ESA/ESTEC","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Fesq et al., 2002] L. Fesq, M. Ingham, M. Pekala, J. Van Eepoel, D. Watson, and B. C. Williams. Model-based au- tonomy for the next generation of robotic spacecraft. In Proc. 53rd Int. Astronautical Cong. Int. Astronautical Fed- eration (IAC-02), pages 212-237, 2002.","title":"Model-based autonomy for the next generation of robotic spacecraft","authors":"L Fesq, M Ingham, M Pekala, J Van Eepoel, D Watson, B C Williams","year":"2002","venue":"Proc. 53rd Int. Astronautical Cong. Int. Astronautical Federation (IAC-02)","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Fox and Long, 2003] Maria Fox and Derek Long. PDDL2.1: an extension to PDDL for expressing temporal planning domains. J. Artif. Intell. Res., 20:61-124, 2003.","title":"PDDL2.1: an extension to PDDL for expressing temporal planning domains","authors":"Maria Fox, Derek Long","year":"2003","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Gat, 1992] Erann Gat. Integrating planning and reacting in a heterogeneous asynchronous architecture for controlling real-world mobile robots. In 10th National Conference on Artificial Intelligence, pages 809-815. AAAI Press, 1992.","title":"Integrating planning and reacting in a heterogeneous asynchronous architecture for controlling real-world mobile robots","authors":"Erann Gat, Gat","year":"1992","venue":"10th National Conference on Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Gat, 1997] E. Gat. On three-layer architectures. Artificial Intelligence and Mobile Robots, pages 195-210, 1997.","title":"On three-layer architectures","authors":"E Gat","year":"1997","venue":"Artificial Intelligence and Mobile Robots","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Ghallab et al., 2001] M. Ghallab, F. Ingrand, S. Lemai, and F. Py. Architecture and tools for autonomy in space. In ISAIRAS 2001, Montreal, CA, 2001.","title":"Architecture and tools for autonomy in space","authors":"M Ghallab, F Ingrand, S Lemai, F Py","year":"2001","venue":"ISAIRAS 2001","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Helmert, 2008] Malte Helmert. Unpublished summary from the IPC 2008 website. https://ipc08.icaps-conference.org/ deterministic/, 2008. Accessed: 2022-04-01.","title":"Unpublished summary from the IPC 2008 website","authors":"Malte Helmert, Helmert","year":"2008","venue":null,"doi":null,"url":"https://ipc08.icaps-conference.org/deterministic/,2008","internal_url":null},{"position":21,"raw":"[Huber, 1999] Marcus J Huber. Jam: A bdi-theoretic mo- bile agent architecture. In Proceedings of the third annual conference on Autonomous Agents, pages 236-243, 1999.","title":"Jam: A bdi-theoretic mobile agent architecture","authors":"J Marcus, Huber","year":"1999","venue":"Proceedings of the third annual conference on Autonomous Agents","doi":null,"url":null,"internal_url":null},{"position":22,"raw":"[Kapellos, 2005] K. Kapellos. Formal Robotic Mission In- spection and Debugging (MUROCO II) Executive Sum- mary, Issue 1, ESA Contract 17987/03/NL/SFe, 2005.","title":"Formal Robotic Mission Inspection and Debugging","authors":"K Kapellos","year":"2005","venue":"MUROCO II) Executive Summary","doi":null,"url":null,"internal_url":null},{"position":23,"raw":"[Meneguzzi and De Silva, 2015] Felipe Meneguzzi and Lavindra De Silva. Planning in bdi agents: a survey of the integration of planning algorithms and agent reasoning. The Knowledge Engineering Review, 30(1):1-44, 2015.","title":"Planning in bdi agents: a survey of the integration of planning algorithms and agent reasoning","authors":"De Meneguzzi, Felipe Silva, Lavindra Meneguzzi, Silva De","year":"2015","venue":"The Knowledge Engineering Review","doi":null,"url":null,"internal_url":null},{"position":24,"raw":"[Pokahr et al., 2005] A. Pokahr, L. Braubach, and W. Lamersdorf. Jadex: A BDI reasoning engine, pages 149-174. Springer, 2005.","title":"Jadex: A BDI reasoning engine","authors":"A Pokahr, L Braubach, W Lamersdorf","year":"2005","venue":null,"doi":null,"url":null,"internal_url":null},{"position":25,"raw":"[Vikhorev et al., 2011] Konstantin Vikhorev, Natasha Alechina, and Brian Logan. Agent programming with priorities and deadlines. In AAMAS, pages 397-404.","title":"Agent programming with priorities and deadlines","authors":"Konstantin Vikhorev, Natasha Alechina, Brian Logan","year":null,"venue":"AAMAS","doi":null,"url":null,"internal_url":null},{"position":26,"raw":"IFAAMAS, 2011.","title":null,"authors":"Ifaamas","year":"2011","venue":null,"doi":null,"url":null,"internal_url":null},{"position":27,"raw":"[Vincent et al., 2001] Régis Vincent, Bryan Horling, V. R. Lesser, and Thomas Wagner. Implementing soft real-time agent control. In Agents, pages 355-362. ACM, 2001.","title":"Implementing soft real-time agent control","authors":"Régis Vincent, Bryan Horling, V R Lesser, Thomas Wagner","year":"2001","venue":"Agents","doi":null,"url":null,"internal_url":null},{"position":28,"raw":"[Williams and Nayak, 1996] B. C. Williams and P. Pan- durang Nayak. A model-based approach to reactive self- configuring systems. In IAAI, Vol. 2, pages 971-978, 1996.","title":"A model-based approach to reactive selfconfiguring systems","authors":"B C Williams, P Pandurang Nayak","year":"1996","venue":"IAAI","doi":null,"url":null,"internal_url":null},{"position":29,"raw":"[Woods et al., 2006] M. Woods, D. Long, R. Aylett, L. Bald- win, and G. Wilson. Mars Mission On-Board Planner and Scheduler (MMOPS) Summary Report, Issue 1, ESA Con- tract 17987/03/NL/SFe CCN1, 2006.","title":"Mars Mission On-Board Planner and Scheduler (MMOPS) Summary Report","authors":"M Woods, D Long, R Aylett, L Baldwin, G Wilson","year":"2006","venue":null,"doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}