Open multiagent architecture extended to distributed autonomous robotic systems

Philippe Sellem; Eric Amram; Dominique Luzeaux

doi:10.1117/12.391627

10 July 2000 Open multiagent architecture extended to distributed autonomous robotic systems

Philippe Sellem, Eric Amram, Dominique Luzeaux

Proceedings Volume 4024, Unmanned Ground Vehicle Technology II; (2000) https://doi.org/10.1117/12.391627
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

Our research deals with the design and experiment of a control architecture for an autonomous outdoor mobile robot which uses mainly vision for perception. In this case of a single robot, we have designed a hybrid architecture with an attention mechanism that allows dynamic selection of perception processes. Building on this work, we have developed an open multi-agent architecture, for standard multi-task operating system, using the C++ programming language and Posix threads. Our implementation features of efficient and fully generic messages between agents, automatic acknowledgement receipts and built-in synchronization capabilities. Knowledge is distributed among robots according to a collaborative scheme: every robot builds its own representation of the world and shares it with others. Pieces of information are exchanged when decisions have to be made. Experiments are to be led with two outdoor ActiveMedia Pioneer AT mobile robots. Distributed perception, using mainly vision but also ultrasound, will serve as proof of concept.

Citation Download Citation

Philippe Sellem, Eric Amram, and Dominique Luzeaux "Open multiagent architecture extended to distributed autonomous robotic systems", Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); https://doi.org/10.1117/12.391627

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