A cooperative multi-agent robotics system:Design and modelling

Abstract:

This paper presents the development of the robotic multi-agent system SMART.In this system, the agent concept is applied to both hardware and software entities.Hardware agents are robots, with three and four legs, and anIP-camera that takes images of the scene where the cooperative task is carried out.Hard- ware agents strongly cooperate with software agents.These latter agents can be classified into image pro- cessing, communications, task management and decision making, planning and trajectory generation agents. To model, control and evaluate the performance of cooperative tasks among agents, akind of Petri Net, called Work-Flow Petri Net, is used.Experimental results shows the good performance of the system. © 2013 Elsevier Ltd. All rights reserved.

Año de publicación:

2013

Keywords:

• Mobile robot motion-planning
• cooperative systems
• Robotic agent
• mechatronics
• Mobile robot kinematics

Fuente:

scopus