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

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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Submitted on : Friday, June 10, 2011 - 11:41:02 AM
Last modification on : Thursday, March 3, 2022 - 8:08:03 PM
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  • HAL Id : inria-00599602, version 1


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, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 15 p. ⟨inria-00599602⟩



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