BESA-ME: Framework for Robotic MultiAgent System Design

David M. Flórez, Guillermo A. Rodríguez, Juan M. Ortiz, Enrique González

Abstract

BESA-ME is a software middleware designed to make easier and to improve the construction of robotic control systems based on multi-agent techniques. BESA is a behavior-oriented, event-driven and social-based general purpose architecture designed to build concurrent applications using the multiagent paradigm. The BESA abstract model incorporates the concept of behavior and the management of asynchronous events, which are very useful in the construction of robotic systems, thus it allows to design robot control architectures in a natural and direct fashion. BESA-ME, micro-edition, is the adapted BESA model that is well suited to be implemented over microcontrollers in embedded systems. Initially, it has been developed for the PIC18F chip family, and then adapted for dsPIC60F chip family, both under the real time operating system FreeRTOS ™.

References

  1. INTEL Corporation. “Intel® Dual-Core Processors: The first step in the multi-core revolution”, www.intel.com/technology/computing/dual-core. January 15th 2007.
  2. SMARTHOME. “Getting Started”, http://www.smarthome.com/starters.html. January 13th 2007.
  3. The Robotics Institute. “Distributed Robots Architecture”, Carnegie Mellon University. http://www.frc.ri.cmu.edu/projects/dira. January 12th 2007.
  4. Liu, Jiming. “Multi - Agent Robotic Systems”. CRC Press, Boca Ratón, Fl. 2001.
  5. Gonzalez Enrique, Avila Jamir, Bustacara César. "BESA: Behavior-Oriented, Event-Driven And Social-Based Agent Framework". PDPTA'03, Las Vegas-Usa, Csrea Press, Vol. 3, Junio 2003, PP 1033-1039. ISBN 1-892512-43-2.
  6. P.De Saqui SanneS. “Conception basée modèle des systèmes temps réel et distributes”, Rapport Laas No05403, Toulouse, France. 7 Juillet 2005.
  7. Roques, Pascal, “UML en action”. Editions Eyrolles, France. June 2004.
  8. Verimag. “Synchrone”, http://www-verimag.imag.fr/SYNCHRONE/. October 2006.
  9. Stallings, William. “Operating Systems: Internals and Design Principles“. Prentice Hall. USA. 2001.
  10. Weiss, Gerhard. “Multiagent systems: A modern approach to Distributed Artificial Intelligence”. MIT Press, U.S.A 1999.
  11. Foundation for Intelligent Physical Agents. “FIPA Specifications”, http://www.fipa.org, November 5th 2004.
  12. PUMPKIN INC. “Salvo User Manual”, http://www.pumpkininc.com/, October 23rd 2004.
  13. MICRIUM. “µC/OS-II Kernel Benefits”, http://www.ucos-ii.com/products/rtos/kernel/rtos.html, November 18th 2006.
  14. CMX Systems. “TINY PLUS Real-Time Multi-Tasking Operating System for Microprocessors and icrocomputers” http://www.cmx.com/, November 18th 2006.
  15. Barry, Richard. “FreeRTOS”, http://www.freertos.org, November 2004 - November 2006.
  16. Florez, David, Rodrigez, Guillermo, Ortiz Juan. “BESA-ME: Arquitectura de sistemas multi-agente para microcontroladores”. Pontificia Universidad Javeriana. Bogotá, Colombia. 2005.
  17. Gonzalez Enrique, Bustacara César, Avila Jamir,. "Agents For Concurrent Programming". CPA 2003, Enschende-Holanda, IOS PRESS, Septiembre 2003, PP 157-166. ISBN 1- 58603-381-6.
Download


Paper Citation


in Harvard Style

M. Flórez D., A. Rodríguez G., M. Ortiz J. and González E. (2007). BESA-ME: Framework for Robotic MultiAgent System Design . In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007) ISBN 978-972-8865-86-6, pages 64-73. DOI: 10.5220/0001636000640073


in Bibtex Style

@conference{mars07,
author={David M. Flórez and Guillermo A. Rodríguez and Juan M. Ortiz and Enrique González},
title={BESA-ME: Framework for Robotic MultiAgent System Design},
booktitle={Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)},
year={2007},
pages={64-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001636000640073},
isbn={978-972-8865-86-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)
TI - BESA-ME: Framework for Robotic MultiAgent System Design
SN - 978-972-8865-86-6
AU - M. Flórez D.
AU - A. Rodríguez G.
AU - M. Ortiz J.
AU - González E.
PY - 2007
SP - 64
EP - 73
DO - 10.5220/0001636000640073