Control Architecture for Cooperative Mobile Robots using Multi-Agent based Coordination Approach

Mehdi Mouad 1, * Lounis Adouane 2, * Pierre Schmitt 1 Djamel Khadraoui 1, * Philippe Martinet 3, *
* Auteur correspondant
1 CRP Henri Tudor - Centre de Recherche Public Henri Tudor [Headquarters]
2 IP - Institut Pascal - Clermont Auvergne
3 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
Abstract : This paper is about a Multi-Agent based solution to control and coordinate team-working mobile robots moving in unstructured environments. Two main contributions are considered in our approach. The rst contribution of this paper is about the Multi-Agents System to Control and Coordinate teAmworking Robots (MAS2CAR) architecture, a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers three main layers: (i) the Physical Layer (ii) the Control Layer and (iii) the Coordination Layer. The second contribution of this paper is about the multi-agent system (MAS) organisational models aiming to solve the key cooperation issues in the coordination layer, the software components designed based on Utopia a MAS framework which automatically build software agents, thanks to a multi-agent based organisational model called MoiseInst . We provide simulation results that exhibit robotics cooperative behavior related to our scenario, such as multi-robots navigation in presence of obstacles (including trajectory planning, and reactive aspects) via a hybrid control.
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Communication dans un congrès
6th National Conference on Control Architectures of Robots, May 2011, Grenoble, France. 15 p., 2011
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CAR-2011 | INSTITUT_PASCAL | PRES_CLERMONT | SIGMA-CLERMONT

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Mehdi Mouad, Lounis Adouane, Pierre Schmitt, Djamel Khadraoui, Philippe Martinet. Control Architecture for Cooperative Mobile Robots using Multi-Agent based Coordination Approach. 6th National Conference on Control Architectures of Robots, May 2011, Grenoble, France. 15 p., 2011. 〈inria-00599602〉

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