Authors:
Bianca Innocenti
;
Beatriz López
and
Joaquim Salvi
Affiliation:
Institute of Informatics and Applications, University of Girona, Spain
Keyword(s):
Robot design, control architecture, mobile robots.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
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.