Programming Reactive Agent-Based Mobile Robots Using Icaro-T Framework

Abstract

This paper describes the experience and the results of using agent-based component patterns for developing mobile robots. The work is based on the open source ICARO-T framework, which provides four categories of component patterns: agent organization pattern to describe the overall architecture of the system, cognitive and reactive agent patterns to model agent behaviour, and resource patterns to encapsulate computing entities providing services to agents. The experimental setting is based on the development of a team of cooperating robots for achieving surveillance tasks.