Agent-Oriented Design of a Multi-Robot System

Bram Gruneir, Ben Miners, Alaa Khamis, Hamada Ghenniwa, Mohamed Kamel

Abstract

This paper presents a new architecture for multiple robot systems using an agent oriented design methodology. The proposed architecture combines the hierarchical and the decentralized approaches. It splits all processes into two layers: the cognitive layer, where the higher brain functions take place and the action layer, where the low level functions take place. It also addresses the use of cooperative software agents organized in hardware or software components. Each of these agents independently handles a small set of specialized tasks and cooperates to achieve system-level goals. The overall system behaviour emerges from the autonomous behaviours of the individual agents. Advantages include support for multiple robots with different specifications to communicate with each other and perform meaningful tasks. Experiments using mobile, autonomous robots equipped with a vision system demonstrate the usefulness of the proposed architecture in the development of multi-robot cooperative behaviours.

References

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Paper Citation


in Harvard Style

Gruneir B., Miners B., Khamis A., Ghenniwa H. and Kamel M. (2005). Agent-Oriented Design of a Multi-Robot System . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 132-143. DOI: 10.5220/0001196601320143


in Bibtex Style

@conference{mars05,
author={Bram Gruneir and Ben Miners and Alaa Khamis and Hamada Ghenniwa and Mohamed Kamel},
title={Agent-Oriented Design of a Multi-Robot System},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={132-143},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001196601320143},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - Agent-Oriented Design of a Multi-Robot System
SN - 972-8865-34-1
AU - Gruneir B.
AU - Miners B.
AU - Khamis A.
AU - Ghenniwa H.
AU - Kamel M.
PY - 2005
SP - 132
EP - 143
DO - 10.5220/0001196601320143