A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR

Sébatien Delarue; Philippe Hoppenot; Etienne Colle

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Paper

A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR

Topics: Software Agents for Intelligent Control Systems

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 292-299, 2007 , Angers, France

Authors: Sébatien Delarue ; Philippe Hoppenot and Etienne Colle

Affiliation: IBISC, CNRS FRE 2873 - University of Evry, France

Keyword(s): Multi-agent, arm manipulator, mobile platform.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Software Agents for Intelligent Control Systems

Abstract: Assistive robotics especially mobile arm manipulator can be useful for restoring manipulation function of disabled people in everyday life tasks. However, those systems must be designed to be reliable, fault tolerant and easy to control. This article proposes a method based on multiagent system for controlling the robot. This kind of distributed architecture makes possible to be fault-tolerant without specifying additional management of faults what improves reliability. Moreover, it is also possible to add specific constraints, for example human like behaviors in order to facilitate the use of the system by the person. The multiagent method is easier to implement than classical robotics approaches.

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Paper citation in several formats:

Delarue, S.; Hoppenot, P. and Colle, E. (2007). A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-972-8865-82-5; ISSN 2184-2809, SciTePress, pages 292-299. DOI: 10.5220/0001625902920299

@conference{icinco07,
author={Sébatien Delarue. and Philippe Hoppenot. and Etienne Colle.},
title={A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2007},
pages={292-299},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001625902920299},
isbn={978-972-8865-82-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR
SN - 978-972-8865-82-5
IS - 2184-2809
AU - Delarue, S.
AU - Hoppenot, P.
AU - Colle, E.
PY - 2007
SP - 292
EP - 299
DO - 10.5220/0001625902920299
PB - SciTePress