Integrating individual and social intelligence into module-based agents without central coordinator.
ABSTRACT Robots are complex entities that can be modeled as multi-agent systems. The multi-agent paradigm,provides an integrated intelligence framework,such as a path planning agent that uses search techniques interacts with a fuzzy-based agent that moves the robot to a given location. Agent coordination is required to achieve the appropriate global behavior. When there is no central agent that coordinates the overall architecture, the intelligence required for social interaction should therefore be deployed at the agent level. In such a situation, individual intelligence (how to reach a goal) and social intelligence (how to collaborate or compete for resource with other agents) should be integrated at the agent level. In this paper we propose the use of module-based agents to achieve this integration. The whole multi-agent robot architecture, ARMADiCo, has been implemented with several module-based agents and tested on a Pioneer 2DX of ActivMedia. Some preliminary results are shown and discussed. Keywords. Robotics, Agents
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Conference Paper: Executing multi-robot cases through a single coordinator.[Show abstract] [Hide abstract]
ABSTRACT: It is challenging to design general robot soccer coordination behaviors that address individual states. We have success- fully followed a case-based approach to define behaviors for a single soccer robot. In our multi-robot system we now dis- tinguish retriever robots that access the case library, reason about the situation, and select the most appropriate cases. They communicate with the other robots and they all exe- cute the retrieved case in a coordinated way. We evaluate our approach with two robots demonstrating that the robots successfully coordinate and the number of passes during a game highly increases compared to an approach with an im- plicit coordination mechanism.6th International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS 2007), Honolulu, Hawaii, USA, May 14-18, 2007; 01/2007
Article: Introduction to ai robotics
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ABSTRACT: A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks.IEEE Journal on Robotics and Automation 04/1986;