A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR

Sébatien Delarue, Philippe Hoppenot, Etienne Colle

Abstract

Assistive robotics especially mobile arm manipulator can be useful for restoring manipulation function of disabled people in everyday life tasks. However, those systems must be designed to be reliable, fault tolerant and easy to control. This article proposes a method based on multiagent system for controlling the robot. This kind of distributed architecture makes possible to be fault-tolerant without specifying additional management of faults what improves reliability. Moreover, it is also possible to add specific constraints, for example human like behaviors in order to facilitate the use of the system by the person. The multiagent method is easier to implement than classical robotics approaches.

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Paper Citation


in Harvard Style

Delarue S., Hoppenot P. and Colle E. (2007). A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-82-5, pages 292-299. DOI: 10.5220/0001625902920299


in Bibtex Style

@conference{icinco07,
author={Sébatien Delarue and Philippe Hoppenot and Etienne Colle},
title={A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2007},
pages={292-299},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001625902920299},
isbn={978-972-8865-82-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR
SN - 978-972-8865-82-5
AU - Delarue S.
AU - Hoppenot P.
AU - Colle E.
PY - 2007
SP - 292
EP - 299
DO - 10.5220/0001625902920299