Journal of Intelligent and Robotic Systems

, Volume 32, Issue 1, pp 93–114

ABC2 an Agenda Based Multi-Agent Model for Robots Control and Cooperation


  • Vicente Matellán
    • Departamento de Ciencias Experimentales e IngenieríaUniversidad Rey Juan Carlos de Madrid
  • Daniel Borrajo
    • Departamento de InformáticaUniversidad Carlos III de Madrid

DOI: 10.1023/A:1012009429991

Cite this article as:
Matellán, V. & Borrajo, D. Journal of Intelligent and Robotic Systems (2001) 32: 93. doi:10.1023/A:1012009429991


This paper presents a model for the control of autonomous robots that allows cooperation among them. The control structure is based on a general purpose multi-agent architecture using a hybrid approach made up by two levels. One level is composed of reactive skills capable of achieving simple actions by their own. The other one uses an agenda used as an opportunistic planning mechanism to compound, activate and coordinate the basic skills. This agenda handles actions both from the internal goals of the robot or from other robots. This two level approach allows the integration of real-time response of reactive systems needed for robot low-level behavior, with a classical high level planning component that permits a goal oriented behavior. The paper describes the architecture itself, and its use in three different domains, including real robots, as well as the issues arising from its adaptation to the RoboCup simulator domain.


Copyright information

© Kluwer Academic Publishers 2001