A Multi-agent Distributed Architecture for Mobile Robotics
نویسندگان
چکیده
An approach to the design of multi-agent architectures for mobile robotics is presented, that is based on the Unified Modeling Language. The main goal of the work is to provide a framework to perform a rigorous agent-based design process for cognitive architectures both in the case of a single robot, and in a multi-robot scenario. Details of the methodology, system implementation using FIPA-OS environment, along with real and simulated experiments are reported.
منابع مشابه
A multi-agent architecture with cooperative fuzzy control for a mobile robot
The challenges of robotics have led the researchers to develop control architectures composed of distributed, independent and asynchronous behaviors. One way to approach decentralization is through cooperative control, since it allows the development of complex behavior based on several controllers combined to achieve the desired result. Robots, however, require high-level cognitive capacities,...
متن کاملChidori – a bio-inspired cognitive architecture for collective robotics applications
A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting...
متن کاملHow Mas Support Distributed Robot Control
One of the current challenges of robotics is to make completely autonomous robots capable of modifying their performance in complex and changing environments. However, it is technologically difficult and potentially dangerous to build complex systems that are controlled in a completely centralized way. So, distributed systems should be used to develop the robot control architecture, in order to...
متن کاملMulti-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 manu...
متن کاملSoftware Solutions for Distributed Autonomous Multi-Functional Robotics in Space
1. Abstract Robotics systems in space must deal with a host of software challenges in addition to and amplified by the challenges of a hostile space environment and the remoteness in which they operate. Software automation has been used to good effect in managing some of these challenges to control single robotic systems, even multi-functional systems, in previous unmanned missions without the ...
متن کامل