A MULTI-AGENT COLLABORATIVE CONTROL ARCHITECTURE WITH FUZZY ADJUSTMENT FOR A MOBILE ROBOT

Bianca Innocenti, Beatriz López, Joaquim Salvi

2006

Abstract

One of the current challenges of control research is to make systems capable of showing intelligent responses to changing circumstances. To address this task, more complex systems are being developed. However, it is technologically difficult and potentially dangerous to build complex systems that are controlled in a completely centralized way. One approach to building decentralization systems is using multi-agent technology for building control architectures. But it seems risky to recursively extend using multi-agent systems to develop part of the system, such as a single behaviour.One alternative approach is to use collaborative control to deploy specific (low level) behaviours, so that several controllers are combined in a single agent of the multi-agent architecture in order to achieve the wanted behaviour. This paper presents a collaborative controller applied to the goto behaviour. The experiments were carried out using a Pioneer mobile robot.

References

  1. Bryson, J. (2001). Intelligence by Design: Principles of Modularity and Coordination for Engineering Complex Adaptive Agents. PhD thesis, Massachusetts Institute of Technology.
  2. Busquets, D., Sierra, C., and L ópez de Màntaras, R. (2003). A multiagent approach to qualitative landmark-based navigation. Autonomous Robots, 15:129 - 154.
  3. Figueras, A., Colomer, J., and De la Rosa, J. (2002). Supervision of heterogeneous controllers for a mobile robot. In The XV World Congress IFAC.
  4. Gerkey, B., Mataric, M., and Sukhatme, G. (2002). Exploiting pphysical dynamics for concurrent control of a mobile robot. Proceedings ICRA 7802. IEEE International Conference on Robotics and Automation, 4:3467 - 3472.
  5. Giorgini, P., Kolp, M., and Mylopoulos, J. (2002). Socio-intentional architectures for multi-agent systems: The mobile robot control case. Proceedings of the Fourth International Bi-Conference Workshop on Agent-Oriented Information Systems (AOIS-02) at CAiSE2002, Toronto, Canada.
  6. Goldberg, K. and Chen, B. (2001). Collaborative control of robot motion: robustness to error. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 655-660.
  7. Innocenti, B., L ópez, B., and Salvi, J. (2006). How MAS support distributed robot control. International Symposium of Robotics (ISR).
  8. Innocenti, B., Ridao, P., Gascons, N., El-Fakdi, A., L ópez, B., and Salvi, J. (2004). Dynamical model parameters identification of a wheleed mobile robot. 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles (preprints).
  9. Klir, G. J. and Folger, T. A. (1992). Fuzzy Sets, Uncertainty, and Information. Prentice Hall.
  10. Murray, R., A°ström, K., Boyd, S., Brockett, R., and Stein, G. (2003). Future directions in control in an information-rich world. IEEE Control Systems Magazine, 23, issue 2:20 - 33.
  11. Neves, M. C. and Oliveira, E. (1997). A multi-agent approach for a mobile robot control system. Proceedings of Workshop on ”Multi-Agent Systems:Theory and Applications” (MASTA'97 - EPPIA'97) - Coimbra -Portugal, pages 1 - 14.
  12. Ros, R., de Mantaras, R. L., Sierra, C., and Arcos, J. L. (2005). A cbr system for autonomous robot navigation. Frontiers in Artificial Intelligence and Applications 131, IOS Press, pages 299-306.
  13. Saffiotti, A. (1997). The uses of fuzzy logic in autonomous robot navigation. Soft Computing, 1(4):180 - 197.
Download


Paper Citation


in Harvard Style

Innocenti B., López B. and Salvi J. (2006). A MULTI-AGENT COLLABORATIVE CONTROL ARCHITECTURE WITH FUZZY ADJUSTMENT FOR A MOBILE ROBOT . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 523-526. DOI: 10.5220/0001214005230526


in Bibtex Style

@conference{icinco06,
author={Bianca Innocenti and Beatriz López and Joaquim Salvi},
title={A MULTI-AGENT COLLABORATIVE CONTROL ARCHITECTURE WITH FUZZY ADJUSTMENT FOR A MOBILE ROBOT},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={523-526},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001214005230526},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A MULTI-AGENT COLLABORATIVE CONTROL ARCHITECTURE WITH FUZZY ADJUSTMENT FOR A MOBILE ROBOT
SN - 978-972-8865-60-3
AU - Innocenti B.
AU - López B.
AU - Salvi J.
PY - 2006
SP - 523
EP - 526
DO - 10.5220/0001214005230526