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This paper describes an agent΄s movement protocol. Additionally, a distributed architecture to implement such protocol is presented. The architecture allows the agents to move in accordance with their requirements. The protocol is based on division and fusion of the agents in their basic components called Logical Sensors. The movement of the agents is based on the quality of services (QoS) and quality of control (QoC) parameters that the system can provides. The protocol is used to know the impact that the movement of the agents may have on the system and obtain the equilibrium points where the impact is minimal. [ABSTRACT FROM AUTHOR]

Multi Agent Systems (MAS) are one of the most suitable frameworks for the implementation of intelligent distributed control system. Agents provide suitable flexibility to give support to implied heterogeneity in cyber-physical systems. Quality of Service (QoS) and Quality of Control (QoC) parameters are commonly utilized to evaluate the efficiency of the communications and the control loop. Agents can use the quality measures to take a wide range of decisions, like suitable placement on the control node or to change the workload to save energy. This article describes the architecture of a multi agent system that provides support to QoS and QoC parameters to optimize de system. The architecture uses a Publish-Subscriber model, based on Data Distribution Service (DDS) to send the control messages. Due to the nature of the Publish-Subscribe model, the architecture is suitable to implement event-based control (EBC) systems. The architecture has been called FSACtrl. [ABSTRACT FROM AUTHOR]