Publication: ABC² an agenda based multi-agent model for robots control and cooperation
Loading...
Identifiers
Publication date
2001-09
Defense date
Advisors
Tutors
Journal Title
Journal ISSN
Volume Title
Publisher
Kluwer Academic Publishers
Impact
Export
Abstract
This paper presents a model for the control of autonomous robots that allows cooperation among them. The control structure is based on a general purpose multi-agent architecture using a hybrid approach made up by two levels. One level is composed of reactive skills capable of achieving simple actions by their own. The other one uses an agenda used as an opportunistic planning mechanism to compound, activate and coordinate the basic skills. This agenda handles actions both from the internal goals of the robot or from other robots. This two level approach allows the integration of real-time response of reactive systems needed for robot low-level behavior, with a classical high level planning component that permits a goal oriented behavior. The paper describes the architecture itself, and its use in three different domains, including real robots, as well as the issues arising from its adaptation to the RoboCup simulator domain.
Description
Keywords
Agenda, Control, Cooperation, Fuzzy, Robots, Multi-agent
Bibliographic citation
Journal of intelligent and robotic systems, October 2001, vol. 32, n. 1, p. 93-114