Multi-agent Control Approach for Autonomous Mobile Manipulators: Simulation Results on RobuTER/ULM
نویسندگان
چکیده
This article presents a multi-agent approach for controlling autonomous mobile manipulators. The proposed approach assigns a hybrid agent (Mobile base agent) for the control of the mobile base, a reactive agent (Joint agent) to each degree-of-freedom (dof) of the manipulator, and a Supervisory agent to assure coordination and to synchronize the work of the whole agents of the system. The initial simulation results, obtained via different positioning tasks on RobuTER/ULM with and without considering breakdowns, show that the main advantage of such an approach is that it pledges a fault-tolerant response to various types of breakdowns without adding any specific dysfunction treatment.
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