Multi-agent Control Approach for Autonomous Mobile Manipulators: Simulation Results on RobuTER/ULM

Fault-tolerant multi-agent control architecture for autonomous mobile manipulators: Simulation results

“…Next, the Supervisory agent selects the best proposal (minimizing f Obj ) and sends a Contract message to the holder in order to confirm the selection, and thus to execute the proposed Fig. 6 describes the behavior of the Supervisory agent [28].…”

“…8 presents a global view for the control structure of RobuTER/ULM. The architecture involves a set of eight agents [28]: Six reactive Joint agents are assigned to control the six-dof ULM manipulator. One hybrid Mobile base agent to control the RobuTER mobile base.…”

Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators

“…The robotics nowadays has reached a high level of importance, since robots perform common tasks that require locomotion and manipulation capabilities [1,2,3]. Traditionally, the robots are used in the automotive, electrical, metallurgical, chemical and food industries, as well as in tasks of daily life, such as sweeping, vacuuming or mowing grass [4,5].…”