Developing a Multi-Agent Fuzzy-based Control Architecture for Autonomous Mobile Manipulators

Mohamed Ayoub Messous, Abdelfetah Hentout, Saliha Oukid, Brahim Bouzouia


Controlling a robotic system, while reaching a certain degree of autonomy and complexity, is carried by the establishment of its control architecture. The control process is intended through achieving general goals and/or reacting to changes of the environment. An autonomous robot is required to meet some design specifications and behavior requirements: its reactivity to environment change, its reliability and its fault-tolerance, etc. However, A control architecture of a robot must ensure that the robot will achieve, in real-time, its tasks despite all the constraints. The control is required to be reactively fast but also thorough, while maintaining some properties such as stability and robustness. The main objective we are intending to achieve is to design our own approach for autonomous control of mobile manipulators. The expected approach is meant to be thorough and generic as possible. It should offer a real-time reactive response, while maintaining a fault-tolerance capabilities and a robust control.


  1. Brooks, R. A., 1986. “A robust layered control system for a mobile robot”, IEEE Journal of Robotics and Automation RA, 2(1), pp. 14-23.
  2. Cingolani, P., Alcala-Fdez, J., 10-15 June 2012. “jFuzzyLogic: A Robust and Flexible Fuzzy-Logic Inference System Language Implementation”, The IEEE World Congress on Computational Intelligence (WCCI 2012), Brisbane, Australia, pp. 1090-1097.
  3. Colle, E., Nait-Chabane, K., Delarue, S., Hoppenot, P., 7-9 June 2006. “ARPH: Comparaison d'une méthode classique et d'une méthode utilisant la coopération hommemachine pour exploiter la redondance de l'assistant robotisé”. The 4th Conference HANDICAP2006, France.
  4. Delarue, S., Hoppenot, Ph., Colle, E., 9-12 May 2007. “A Multi Agent Controller for a Mobile Arm Manipulator”. The 4th International Conference on Informatics in Control, Automation and Robotics (ICINCO2007), Angers, France.
  5. Duhaut, D., 1999. “Distributed Algorithm For High Control Robotics Structures”. International Conference on Artificial Intelligence, Vol. 1, pp 45-50.
  6. Erden, M. S., Leblebicioglu, K., Halici, U. 2004. “Multiagent System-Based Fuzzy Controller Design with Genetic Tuning for a Mobile Manipulator Robot in the Hand Over Task”, Journal of Intelligent and Robotic Systems, 39(3), pp. 287-306.
  7. Guessoum, Z., April 1997. “A Hybrid Agent Model: a Reactive and Cognitive Behavior”. The 3rd International Symposium on Autonomous Decentralized Systems (ISADS'97), Germany, pp. 25- 32.
  8. Godjevac, J., February 1995. “Comparative study of fuzzy control, neural network control and neuro-fuzzy control”, Technical report n° 103/95, Federal Polytechnic School of Lausanne, Computer Science Department.
  9. Hentout, A., Bouzouia, B., Toukal, Z., 09-12 March 2008. “Modeling of Agent-based Architecture for Driving Mobile Manipulator Robots”. The International Conference on Distributed Human-Machine Systems (DHMS 2008), Greece.
  10. Klir, G. J., Folger, T. A., 1992. “Fuzzy Sets, Uncertainty, and Information”, Upper Saddle River, NJ: PrenticeHall.
  11. Medeiros, A. A. D., April 1998. “A Survey of Control Architectures for Autonomous Mobile Robots”, Journal of the Brazilian Computer Society, 4(3), Campinas.
  12. Precup, R.-E., Hellendoorn, H., 2011. “A survey on industrial applications of fuzzy control”, Computers in Industry, 62(1), pp. 213-226.
  13. Passino, K. M., Yurkovich, S., “Fuzzy Control”, Menlo Park, CA: Addison-Wesley, 1998.
  14. Singh, M. K., Parhi, D. R., Bhowmik, S., Kashyap, S. K., 1-6 October 2008. “Intelligent Controller for Mobile Robot: Fuzzy Logic Approach”, The 12th International Conference of International Association for Computer Methods and Advances in Geomechanics (IACMAG), Goa, India.
  15. Tournassoud, P., September 1992. “Planification et contrôle en robotique: Application aux robots mobiles et manipulateurs”, Hermes Sciences Publications.

Paper Citation

in Harvard Style

Messous M., Hentout A., Oukid S. and Bouzouia B. (2013). Developing a Multi-Agent Fuzzy-based Control Architecture for Autonomous Mobile Manipulators . In Doctoral Consortium - Doctoral Consortium, (ICINCO 2013) ISBN Not Available, pages 15-22. DOI: 10.5220/0004638000150022

in Bibtex Style

@conference{doctoral consortium13,
author={Mohamed Ayoub Messous and Abdelfetah Hentout and Saliha Oukid and Brahim Bouzouia},
title={Developing a Multi-Agent Fuzzy-based Control Architecture for Autonomous Mobile Manipulators},
booktitle={Doctoral Consortium - Doctoral Consortium, (ICINCO 2013)},
isbn={Not Available},

in EndNote Style

JO - Doctoral Consortium - Doctoral Consortium, (ICINCO 2013)
TI - Developing a Multi-Agent Fuzzy-based Control Architecture for Autonomous Mobile Manipulators
SN - Not Available
AU - Messous M.
AU - Hentout A.
AU - Oukid S.
AU - Bouzouia B.
PY - 2013
SP - 15
EP - 22
DO - 10.5220/0004638000150022