Multi-Agent Systems for Evasive Maneuvers of Mobile Robots through Agreements

Ángel Soriano, Enrique J. Bernabeu, Ángel Valera, Marina Vallés

2013

Abstract

This paper presents a new methodical approach to the problem of collision avoidance of mobile robots taking advantages of multi-agents systems to deliver solutions that benefit the whole system. The approach proposed is based-on the information interchange among the involved agents. The implemented method has the next phases: collision detection, obstacle identification, negotiation, agreement, and collision avoidance. In addition of simulations with virtual robots, in order to validate the proposed algorithm, an implementation with real mobile robots has been developed. The robots are based on Lego NXT, and they are equipped with a ring of proximity sensors for the collisions detections. The platform for the implementation and management of the multi-agent system is JADE.

References

  1. Austin, J. L., 1962. How to Do Things With Words. Oxford University Press: Oxford, England.
  2. Bernabeu E. J., 2009. Fast generation of multiple collision-free and linear trajectories in dynamic environments. IEEE Trans. Robotics 25(4), pp. 967- 975.
  3. Bernabeu E. J., Tornero J., Tomizuka M., 2001. Collision prediction and avoidance amidst moving objects for trajectory planning applications. Proceedings of the IEEE Int. Conf. Robot. Automat., pp. 3801-3806.
  4. Bruce, K. B., Cardelli, L., Pierce, B. C., 1997. Comparing Object Encodings. Theoretical Aspects of Computer Software. Lecture Notes in Computer Science, volume 1281. Springer-Verlag, Berlin Heidelberg New York, pp. 415-438
  5. Cameron S., Culley R. K., 1986. Determining the minimum translational distance between two convex polyhedra. Proceeding of the IEEE Int. Conf. Robot. Automat., pp. 591-596.
  6. Cameron S., 1990. Collision detection by fourdimensional intersection testing. IEEE Trans. Robot. Automat., 6(3), pp. 291-302.
  7. Campion, G., Bastin, G., Dandrea-Novel, B. 1996. Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Transactions on Robot. Automat., 12(1), pp. 47-62.
  8. Choi Y-K., Wang W., Liu Y., Kim M-S., 2006.Continuous collision detection for two moving elliptic disks. IEEE Trans. Robotics, 22(2), pp. 213-224.
  9. Fatima, S., Wooldridge, M., Jennings, N. R., 2001. Optimal negotiation strategies for agents with incomplete information. Intelligent Agent series VIII: Proceedings of the 8th International Workshop on Agent Theories, Architectures, and Languages (ATAL2001) of lecture Notes in Computer Science, volume 2333, pages 53-68. Springer Verlag, Berlin, Germany.
  10. Huhns, M. N., Malhotra, A. K., (1999). Negotiating for Goods and Services. IEEE Internet Computing, 3(4), pp. 97-99.
  11. IDEMOV-IDECONA research project web page. http://idecona.ai2.upv.es/
  12. Iglesias C. A., Garijo M., Gonzales J. C., 1999. Survey of Agent-Oriented Methodologies. Intelligent Agents V: Agents Theories, Architectures, and Languages Lecture Notes in Computer Science, volume 1555, Springer-Verlag Berlin Heidelberg, pp. 317-330.
  13. Lalish E., Morgansen K. A., 2008. Decentralized reactive collision avoidance for multivehicle systems. Proceedings of the IEEE Int. Conf. on Decision and Control, pp 1218-1224.
  14. Michalewicz, Z., 1996. Genetic Algorithms + Data Structures = Evolution Programs. Springer-Verlag, Berlin Heidelberg New York.
  15. Rahwan, I., Sonenberg, L. Dignum, F., 2004. On interestbased negotiation. Advances in Agent Communication Workshop, Lecture Notes in Artificial Intelligence, volume 2922, Springer-Verlag, Berlin, pp. 383-197.
  16. Redon S., Kheddar A., Coquillart S. 2002. Fast continuous collision detection between rigid bodies. Computer Graphic Forum, 21(3), pp. 279-288.
  17. Russell, S. J., Norvig, P., 2009. Artificial Intelligence: A modern approach. Prentice Hall Series in Artificial Intelligence, Upper Saddle River, New Jersey.
  18. Schwarzer F., Saha M., Latombe J-C., 2005. Adaptive dynamic collision checking for single and multiple articulated robots in complex environments. IEEE Trans. Robotics, 21(3), pp. 338-353.
  19. Searle, J., 1969. Speech acts: An essay in the philosophy of language. Cambridge, England: Cambridge University.
  20. SHARP Optoelectonic device GP2y0A21YK. www.sharpsma.com/webfm_send/1208
  21. Singh, M. P., Huhns, M. N., 1999. Multiagent Systems for Workflow, International Journal of Intelligent Systems in Accounting, Finance and Management, volume 8, John Wiley & Sons, Ltd., pp. 105-117.
  22. Tang M., Kim Y. J., Manocha D., 2009. C2A: Controlled conservative advancement for continuous collision detection of polygonal models. Proceedings of the IEEE Int. Conf. Robot. Automat., pp. 849-854.
  23. Urmson, C., Anhalt J., Bagnell D., Baker C., 2008. Autonomous driving in urban environments: Boss and the urban challenge. Journal of Field Robotics, 25(8), pp. 425-466.
  24. Van den Berg J., Guy S. J., Lin M., Manocha D., 2011. Reciprocal n-body collision avoidance. Proceedings of the 14th Int. Symp. on Robotics Research (ISRR), Springer Tracts in Advanced Robotics, volume 70, Springer-Verlag, pp. 3-19.
  25. Van den Bergen G., 2005. Continuous collision detection of general convex objects under translation. Game Developers Conf. Morgan Kauffmann Publishers. http://www.dtecta.com/interesting.
  26. Van Leeuwen, J. (ed.), 1995. Computer Science Today. Recent Trends and Developments. Lecture Notes in Computer Science, volume 1000. Springer-Verlag, Berlin Heidelberg New York.
  27. Wallace, R., Stentz A., Thorpe C., Moravec H., Whittaker W., Kanade T. 1985. First Results in Robot RoadFollowing. Proc. International Joint Conference on Artificial Intelligence (IJCAI), pp.1089-1093.
  28. Wooldridge, M., 2002. An Introduction to MultiAgent Systems. John Wiley & Sons: Chicester, UK.
Download


Paper Citation


in Harvard Style

Soriano Á., J. Bernabeu E., Valera Á. and Vallés M. (2013). Multi-Agent Systems for Evasive Maneuvers of Mobile Robots through Agreements . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 140-147. DOI: 10.5220/0004430101400147


in Bibtex Style

@conference{icinco13,
author={Ángel Soriano and Enrique J. Bernabeu and Ángel Valera and Marina Vallés},
title={Multi-Agent Systems for Evasive Maneuvers of Mobile Robots through Agreements},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={140-147},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004430101400147},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Multi-Agent Systems for Evasive Maneuvers of Mobile Robots through Agreements
SN - 978-989-8565-71-6
AU - Soriano Á.
AU - J. Bernabeu E.
AU - Valera Á.
AU - Vallés M.
PY - 2013
SP - 140
EP - 147
DO - 10.5220/0004430101400147