Authors:
Zakarya Erraji
1
;
Mounia Janah
1
;
Imade Benelallam
2
and
El Houssine Bouyakhf
1
Affiliations:
1
University Mohammed V, Morocco
;
2
University Mohammed V and INSEA, Morocco
Keyword(s):
Constraint Programming (CP), Mobile Robots, Multi-robot Systems, Distributed Problem Solving, Agent Models and Architectures, Distributed Constraints Reasoning, Realistic Use, Constraint Satisfaction Problem (CSP), Distributed CSP (DisCSP).
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Robot and Multi-Robot Systems
Abstract:
Due to the computational complexity (NP-Complete) of Constraint Programming (CP), several researchers have abandoned its use in robotic research field. In the last decade, as many approaches of real-time constraint handling have been proposed, constraint programming has proved to be a stand-alone technology that can be used in several research fields. Even if mobile robotics is a complex research area, in this paper, we prove that distributed constraint reasoning techniques can be utilized as a very elegant formalism for multi-robot decision making. First, we describe dynamic distributed constraint satisfaction formalism, the new platform architecture ”RoboChoc” and specify how decision making can be controlled in multi-robots environment using dynamic communication protocols. Then we provide an example application that illustrates how our platform can be used to solve multi-robot problems using constraint programming techniques.