INTEGRATING A POTENTIAL FIELD BASED PILOT INTO A MULTIAGENT NAVIGATION ARCHITECTURE FOR AUTONOMOUS ROBOTS

Manikanth Mohan, Dídac Busquets, Ramon López de Màntaras, Carles Sierra

Abstract

In this paper we present a new Pilot for a Multi-Agent based control architecture for Autonomous Robots. This Pilot is based on the use of virtual potential fields and is easy to implement yet effective. The Pilot functions as an autonomous agent in a complex Multi-Agent Architecture for the control of an autonomous robot. In this architecture, various agents are responsible for different tasks, and they might have to compete and cooperate for the successful completion of a particular navigation mission. The interaction between different agents is achieved through the use of a bidding mechanism. In this respect, we also present a way to define the bid for the new pilot, so that the pilot can be integrated easily into the Multi-Agent Architecture. The pilot has been tested on navigation experiments involving a real robot and it has given successful and encouraging results. We also deal with some problems of this pilot and ways to get around them.

References

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Paper Citation


in Harvard Style

Mohan M., Busquets D., López de Màntaras R. and Sierra C. (2004). INTEGRATING A POTENTIAL FIELD BASED PILOT INTO A MULTIAGENT NAVIGATION ARCHITECTURE FOR AUTONOMOUS ROBOTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 287-290. DOI: 10.5220/0001129402870290


in Bibtex Style

@conference{icinco04,
author={Manikanth Mohan and Dídac Busquets and Ramon López de Màntaras and Carles Sierra},
title={INTEGRATING A POTENTIAL FIELD BASED PILOT INTO A MULTIAGENT NAVIGATION ARCHITECTURE FOR AUTONOMOUS ROBOTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={287-290},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001129402870290},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - INTEGRATING A POTENTIAL FIELD BASED PILOT INTO A MULTIAGENT NAVIGATION ARCHITECTURE FOR AUTONOMOUS ROBOTS
SN - 972-8865-12-0
AU - Mohan M.
AU - Busquets D.
AU - López de Màntaras R.
AU - Sierra C.
PY - 2004
SP - 287
EP - 290
DO - 10.5220/0001129402870290