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Title:
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A Proposal of a multi-agent system implementation for the control of an assistant personal robot
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Author:
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Martínez Lacasa, Daniel; Clotet Bellmunt, Eduard; Moreno Blanc, Javier; Tresánchez Ribes, Marcel; Palacín Roca, Jordi
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Notes:
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Trends in Practical Applications of Heterogeneous Multi-agent Systems. The PAAMS Collection
This paper proposes a control system design for a mobile robot assistant based on a multi-agent architecture. The robotic platform used in this paper is a second generation Assistant Personal Robot (APR-02) with an own design. The control implementation is distributed among different agents in which each one is designed to fulfill a specific functionality such as localization, navigation, task managing, vision, hearing, communications, and environmental supervision. In addition, a set of shared memory instances are implemented to ensure the cohesion among all the agents while working together. The proposed methodology provides robustness and effectiveness by assigning each agent on a single CPU thread.
This work is partially founded by Indra, the University of Lleida, and the RecerCaixa 2013 grant. |
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Subject(s):
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-Robot agent
-Personal Robot
-Multi-agent |
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Rights:
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(c) Springer International Publishing Switzerland, 2016
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Document type:
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article
acceptedVersion |
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Published by:
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Springer International Publishing Switzerland
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Share:
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