UTMAC: A C ++ library for multi-agent controller design

UTMAC is an object-oriented C++ class library, developed for design, implementation and simulation of multi-agent controllers. Using UTMAC, the control problem under analysis should be decomposed into several partial sub-problems to be solved by controller-agents, which can be implemented as reusable entities. UTMAC uses a non-centralized simulation scheme in which cash agent simulates itself. In this paper the structure of UTMAC is explored and design of a simple reusable multi-agent controller is provided to illustrate the work and show the convenience of design and implementation.