Capture of Multi Intruders by Cooperative Multiple Robots using Mobile Agents

Tadashi Shoji, Munehiro Takimoto, Yasushi Kambayashi

Abstract

Detecting and capturing intruders are two of the most important function of multi-robot systems. In this paper, we propose an effective approach to capture agile intruders with not-so-agile mobile robots. In general, it is difficult to drive several robots to pursue moving objects while adjusting their behaviors. We make mobile robots cooperate using two mobile software agents that control the mobile robots. The mobile software agents migrate from one robot to another robot that is located at much suitable positions for guiding moving robots to the target location. This control manner contributes to not only reduction of movement cost of the mobile robots, but also their efficient movement without interference from other robots. We have implemented a simulator, on which we demonstrated effectiveness of our control manner for intruders-capturing system.

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Paper Citation


in Harvard Style

Shoji T., Takimoto M. and Kambayashi Y. (2020). Capture of Multi Intruders by Cooperative Multiple Robots using Mobile Agents.In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: HAMT, ISBN 978-989-758-395-7, pages 370-377. DOI: 10.5220/0009382503700377


in Bibtex Style

@conference{hamt20,
author={Tadashi Shoji and Munehiro Takimoto and Yasushi Kambayashi},
title={Capture of Multi Intruders by Cooperative Multiple Robots using Mobile Agents},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: HAMT,},
year={2020},
pages={370-377},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009382503700377},
isbn={978-989-758-395-7},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: HAMT,
TI - Capture of Multi Intruders by Cooperative Multiple Robots using Mobile Agents
SN - 978-989-758-395-7
AU - Shoji T.
AU - Takimoto M.
AU - Kambayashi Y.
PY - 2020
SP - 370
EP - 377
DO - 10.5220/0009382503700377