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Shared Memory
Environment
sealed-bid auction
Planning Agent
Sensor Agent
Collect Agent
Manager Agent Khepera
Environment information
Position, Value Sensors
Position, Value Sensors
0
20
40
60
80
100
120
140
160
300 350 400 450 500
Period
Num
ber o
f cra
sh
450000
500000
550000
600000
650000
700000
750000
800000
850000
900000
950000
1000000
1050000
1100000
300 350 400 450 500
Period
Tim
e (m
s)
0
2
4
6
8
10
12
14
16
18
20
22
24
26
300 350 400 450 500
Period
Mis
sed
dead
lines
00,10,20,30,40,50,60,70,80,91
1,11,21,31,41,51,6
300 350 400 450 500
Period
perc
enta
ge o
f mis
sed
dead
line
per
exe
cute
ta
sks
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