Authors:
Yasushi Kambayashi
1
;
Ryosuke Shibuya
2
and
Munehiro Takimoto
2
Affiliations:
1
Nippon Institute of Technology, Japan
;
2
Tokyo University of Science, Japan
Keyword(s):
Mobile Software Agent, Multi-agent System, Multi-robot System, Self-organizing System, Simulation.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Artificial Intelligence and Decision Support Systems
;
Autonomous Systems
;
Cooperation and Coordination
;
Distributed and Mobile Software Systems
;
Enterprise Information Systems
;
Knowledge Engineering and Ontology Development
;
Knowledge-Based Systems
;
Multi-Agent Systems
;
Robot and Multi-Robot Systems
;
Software Engineering
;
Symbolic Systems
Abstract:
It is a fundamental concern for multi-robot system research community how to explore unknown environments. This paper presents an approach for controlling cooperative multiple robots exploration in an unknown environment. The approach we are proposing aims to minimizing the overall exploration cost for multiple robots that march in procession. In order to achieve the goal, the file of multiple robots must be able to effectively come out of dead-ends while exploring a maze-like environment. The proposed approach employs multiple mobile software agents that can migrate from a robot to another robot freely to bring certain role and ability to a robot. In particular, the mobile software agent brings the role of leader to an arbitrary robot in a file, so that the migrated robot becomes the leader of a subgroup of the robots that can march in a file into a part of environment. In order to demonstrate the effectiveness of our approach, we have built a simulator, and partially constructed a
real multi-robot system.
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