Motion Coordination for Ubiquitous Agents

This paper presents a new model to coordinate the movements of a large number of autonomous agents in a ubiquitous computing scenario. This model i s based on the concept of computational fields (Co-Fields): distributed data structures providing agents with a perception o f the e nvironment in terms of abstract force fields. Fields are dynamically constructed b y the c omponents of an embedded infrastructure (or by a software substrate of the agents themselves). Agents, by sensing the gradient of these fields and acting accordingly, can achieve very complex coordination task in a context-aware fashion. The Co-Fields model is described, simulated, and evaluated in the context of a case study in the area of mobile tourist assistance.