Multi-agents Generic Model for Piloting Mobile Manipulator Robots

In this article, we present multi-agent based system generic model architecture for distributed control. This model is dedicated to pilot mobile manipulator robots. The choice of the suggested approach is justified by the generic character of the proposed agent model and on the other hand, by the possibility of integrating the whole in a distributed robotic system (example: CDTA's flexible manufacturing system). The proposed control architecture model is based on a meta-agent composed by four hybrid agents what makes possible to obtain adapted behaviors to the various situations. This architecture privileges control and knowledge distribution and coordinated management of the unforeseen situations. This model is composed by the following agents: Supervisor Agent (system management), Mobile Robot Agent (mobile base control), Manipulator Robot Agent (manipulator control) and Graphic Simulator Agent (real time graphic verification of tasks execution).