Multi-agent Architecture Model for Driving Mobile Manipulator Robots

Abstract

In this article, we present generic hierarchical behavior-based architecture model for driving mobile manipulator robots. Two behaviors are of high-level. They constitute the Supervisory agent, which manages the global system. Two others are of intermediate-level and finally one behavior is of low-level. These last ones constitute the Mobile Robot agent and the Manipulator Robot agent controlling, respectively, the mobile base and the manipulator arm. The choice of the suggested model is justified by the generic character of the proposed agent model and by the possibility of integrating the whole in a distributed robotic system. The model is formalized in Agent UML from the conceptual level to the implementation level. The interaction between the various agents is modeled by the use of the interaction diagrams of Agent UML (states and protocol diagrams).

Multi-agent Systems and its Application to Control Vehicle Underwater

“…What makes ample simple to use to optimize its autonomy, learning and effectiveness of implementation of tasks in the military field as in the field of research. Indeed, we proposed the EAAUVS (Architecture For Autonomous Underwater Vehicle System), based on multi-agent approach [8], that runs around two loops at different time scales: realtime loop Agents closely associating perception and action agent, and another loop (comprising Diagnostic Agent and Agent decision) taking place on a slower time scale that manages one hand the decision based on representations, of various other unforeseen events. This architecture has been extended by the addition of communication mechanisms and information sharing (Agent Interface) to ensure the manmachine interface and other platforms.…”

Mobile Manipulation: A Case Study

“…Each agent models a principal function of the mobile manipulator and manages a different sub-system. In addition, for each agent corresponds a mechanism connecting the four capacities Supervision, Perception, Decision and Action explained in more details in (Hentout et al, 2008).…”

“…Each agent models a principal function of the mobile manipulator and manages a different sub-system. In addition, for each agent corresponds a mechanism connecting the four capacities Supervision, Perception, Decision and Action explained in more details in (Hentout et al, 2008).The Supervision capacity is a virtual entity that select modules which result in the necessary behaviour facing a given situation.The following are the basic functions of the architecture agents (Hentout et al, 2009b):  SA, Supervisory Agent: SA receives the mission to be executed, decides on its feasibility according to the status and the availability (Perception + Decision) of the required equipments and resources of the robot (sensors, mobile base, manipulator, camera, etc.). If the mission is accepted, SA distributes it on on the corresponding agents for execution (Action).…”

Toward a Generic Framework for Ubiquitous System

“…They are then limited in their genericity and reusability and blocked by categorical aspect. For example, in the field of robotics, there are many attempts to provide frameworks that will propose the ability to describe the most important robotics categories [13] [15]. In Yuan [25] and Amoretti [1], a real-time software framework is presented to improve the scalability and reusability of software modules.…”