Abstract
In this work is presented a general architecture for a multi physical agent network system based on the coordination and the behaviour management. The system is organised in a hierarchical structure where are distinguished the individual agent actions and the collective ones linked to the whole agent network. Individual actions are also organised in a hybrid layered system that take advantages from reactive and deliberative control. Sensing system is involved as well in the behaviour architecture improving the information acquisition performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Aragues, R.: Consistent data association in multi-robot systems with limited communications. Robotics: Science and Systems, 97–104 (2010)
Aragues, R., Cortes, J., Sagues, C.: Distributed consensus on robot networks for dynamically merging feature-based maps. IEEE Transactions on Robotics (2012)
Arkin, R.C.: Motor schema based mobile robot navigation. The International Journal of Robotics Research 8(4), 92–112 (1989)
Asama, H., Habib, M.K., Endo, I., Ozaki, K., Matsumoto, A., Ishida, Y.: Functional distribution among multiple mobile robots in an autonomous and decentralized robot system. In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation. IEEE (1991)
Benet, G., Blanes, F., Martínez, M., Simó, J.: A multisensor robot distributed architecture. In: IFAC Conference INCOM 1998 (1998)
Brooks, R.: A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation 2(1), 14–23 (1986)
Canas, J.M., Matellán, V.: Dynamic schema hierarchies for an autonomous robot. In: Garijo, F.J., Riquelme, J.-C., Toro, M. (eds.) IBERAMIA 2002. LNCS (LNAI), vol. 2527, pp. 903–912. Springer, Heidelberg (2002)
Choset, H., Nagatani, K.: Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization. IEEE Transactions on Robotics and Automation 17(2), 125–137 (2001)
Fox, D., Burgard, W., Dellaert, F., Thrun, S.: Monte carlo localization: Efficient position estimation for mobile robots. American Association for Artificial Intelligence, 343–349 (1999)
Hu, J., Xie, L., Xu, J.: Vision-based multi-agent cooperative target search. In: Control Automation Robotics & Vision (ICARCV), pp. 895–900 (2012)
Huq, R., Mann, G.K.I., Gosine, R.G.: Behavior-modulation technique in mobile robotics using fuzzy discrete event system. IEEE Transactions on Robotics 22(5), 903–916 (2006)
Jayasiri, A., Mann, G., Gosine, R.G.: Mobile robot behavior coordination using supervisory control of fuzzy discrete event systems. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 690–695 (2009)
Jayasiri, A., Mann, G.K.I., Gosine, R.G.: Behavior coordination of mobile robotics using supervisory control of fuzzy discrete event systems. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 41(5), 1224–1238 (2011)
Koenig, N., Howard, A.: Gazebo-3d multiple robot simulator with dynamics. Technical report (2006)
Lin, F., Ying, H.: Modeling and control of fuzzy discrete event systems. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 32(4), 408–415 (2002)
Madden, J.D.: Multi-robot system based on model of wolf hunting behavior to emulate wolf and elk interactions. In: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO, pp. 1043–1050 (2010)
Mataric, M.J.: Interaction and intelligent behavior. Technical report, DTIC Document (1994)
Olivera, V.M., Molina, J.M., Sommaruga, L., et al.: Fuzzy cooperation of autonomous robots. In: Fourth International System on Intelligent Robotics Systems, Lisboa, Portugal (1996)
McGann, C., Py, F., Rajan, K., Thomas, H., Henthorn, R., McEwen, R.: A deliberative architecture for auv control. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 1049–1054. IEEE (2008)
Munera, E., Muñoz, M., Simó, J., Blanes, F.: Humanoid Robot Self-Location In SPL League. In: Comité Español de Automática (CEA), XXXIII Jornadas de Automatica, 797–804 (2012)
Proetzsch, M., Luksch, T., Berns, K.: Development of complex robotic systems using the behavior-based control architecture iB2C. Robotics and Autonomous Systems 58(1), 46–67 (2010)
Qiu, D.: Supervisory control of fuzzy discrete event systems: a formal approach. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 35(1), 72–88 (2005)
Aladebaran Robotics. NAO Software Documentation 1.12. Technical report (2012)
St-Pierre, M., Gingras, D.: Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system. In: 2004 IEEE Intelligent Vehicles Symposium, pp. 831–835 (2004)
Stoytchev, A., Arkin, R.C.: Combining deliberation, reactivity, and motivation in the context of a behavior-based robot architecture. In: Proceedings of the 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 290–295 (2001)
Nicolau, V., Muñoz, M., Simó, J.: KertrolBot Platform. SiDiReLi: Distributed System with Limited Resources. Technical report, Institute of Control Systems and Industrial Computing - Polytechnic University of Valencia, Valencia, Spain (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Muñoz, M., Munera, E., Blanes, J.F., Simó, J.E. (2014). A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-319-03413-3_26
Download citation
DOI: https://doi.org/10.1007/978-3-319-03413-3_26
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03412-6
Online ISBN: 978-3-319-03413-3
eBook Packages: EngineeringEngineering (R0)