Universitat de Lleida
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.
English
Robot agent; Personal Robot; Multi-agent
Springer International Publishing Switzerland
Versió postprint del document publicat a https://doi.org/10.1007/978-3-319-40159-1_14
Advances in Intelligent Systems and Computing, 2016, vol. 473, p. 171-179
(c) Springer International Publishing Switzerland, 2016
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