A cooperative multi-agent robotics system: Design and modelling
Expert Systems with Applications(2013)
摘要
This paper presents the development of the robotic multi-agent system SMART. In this system, the agent concept is applied to both hardware and software entities. Hardware agents are robots, with three and four legs, and an IP-camera that takes images of the scene where the cooperative task is carried out. Hardware agents strongly cooperate with software agents. These latter agents can be classified into image processing, communications, task management and decision making, planning and trajectory generation agents. To model, control and evaluate the performance of cooperative tasks among agents, a kind of Petri Net, called Work-Flow Petri Net, is used. Experimental results shows the good performance of the system.
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关键词
cooperative task,task management,software agent,software entity,work-flow petri,robotic multi-agent system,cooperative multi-agent robotics system,good performance,agent concept,hardware agent,mechatronics
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