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Authors: Manikanth Mohan 1 ; Dídac Busquets 2 ; Ramon López de Màntaras 2 and Carles Sierra 2

Affiliations: 1 Kanpur Genetic Algorithm Laboratory(KanGAL), Indian Institute of Technology, India ; 2 Artificial Intelligence Research Institute (IIIA-CSIC), Spain

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 287-290. DOI: 10.5220/0001129402870290

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Mohan, M.
AU - Busquets, D.
AU - López de Màntaras, R.
AU - Sierra, C.
PY - 2004
SP - 287
EP - 290
DO - 10.5220/0001129402870290
PB - SciTePress

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