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Architecture for multi-robot systems with emergent behavior

Abstract:

This paper describes the design of an architecture for multi-robots systems with emergent behavior. The platform must manage the dynamics in the system, so to enable the emergence therein. The architecture is divided into three levels. The first level provides local support to the robot, manages its processes of action, perception and communication, as well as its behavioral component. The behavioral component considers the reactive, cognitive, social and affective aspects of a robot, which influence its behavior and how it interacts with the environment and with the other robots in the system. The second level provides support to the collective processes of the system, as are the mechanisms of cooperation, collaboration, planning, and/or negotiation, which may be needed at any given time. This level of the architecture is based on the emerging coordination concept. The third level is responsible by the knowledge management and learning processes, both individually and collectively, that are occurring in the system.