A Robotic-agent Platform for Embedding Software Agents Using Raspberry Pi and Arduino Boards

Abstract

This paper presents a robotic-agent platform to embed software agents into hardware devices. The platform consists in embed Jason framework in Raspberry Pi, allowing direct control of its pins, in order to control hardware devices, and Arduino to control sensors/actuators. So, it is necessary to prepare both hardware and software and establish a communication between them. For this, it was developed the Javino library, which is a communication protocol for exchange messages between Java and Arduino using a serial port. It is also presented a three-step methodology for supporting the robotic agent development. An example using the proposed platform and methodology is presented. It was chosen a vehicle chassis, as the hardware robot, that is able to move and deviate from obstacles.

Full text




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–––
––

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  
           
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

     
           
            
       





            
            

             




for environments’ artifacts programming; and    




             


      

�


            


 

          

           


              
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
         
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







    
r a direct control over Raspberry’s digital
pins. So, the agent is able to switch the Raspberry’s pins values without any







inputs on its project. The Arduino’s pins are more resistant then GPIO, besides it has

     





� 

  
               
      


necessary to provide a bridge between agent’s external actions and microcontroller’s





   


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          
             



            
              
            

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


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In STEP 2 it is necessary to prepare the agent’s simulated environment. As the
             
agent’s external actions (the actions that an agent wants to execute in real environment

to move left for example, it is necessary to program the message (it is used “left”




it is necessary to import two libraries into Jason’s simulated environment: i) The Javino




is just necessary to program normal agents using Jason framework. The agent’s plan
           
            


� 
             



            



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

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After that, the environment has to be prepared for the agent’s external actions.
First of all, it is mandatory to import Javino library into Jason’s environment. The Pi4J
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

send method to update the agent’s belief    
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(the project’s jar file          
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          
           
communication between Arduino board and Jason’s environment. Although the platform
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  
          
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 
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and transmitters/receivers actions); the environment preparation (using RxTx and Jason’s
   
            
    
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           
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             
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            
           

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




agent’s belief base without any interference into environment. The platform will be




Moraes L. M. (2014) “An
oriented Ground Vehicles Automation Using Jason Framework” In:
         



Boissier, O., Bordini, R. H., Hubner, J. F., Ricci, A. e Santi, A. (2011) “Multi
oriented programming with jacamo” Science of Computer Programming.
  ., Hubner, J. F. e Wooldridge, W. (2007) “Programming Multi
Systems in AgentSpeak using Jason” Jonh Wiley and Sons, London.

“Autonomous Aquatic Agents” In:      





         

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