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Proposition of a BDI-Based Distributed Partitioning Approach for a Multirobot System

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Computational Collective Intelligence (ICCCI 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11056))

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Abstract

This article deals with the problem of partitioning a space between a number of robots in a distributed and dynamic way. We aim through the proposed approach to divide the area of interest into a number of sub-regions of equal sizes using the Voronoi diagram. There is no central control, and the robots operate in a completely autonomous way, from the neighborhood discovery to the localization and position sharing. The individual actions of the robots are controlled by the Belief Desire Intention (BDI) model which allows them to operate deliberately and readjust their plans on the go, making the system evolve dynamically.

We show in this paper, through a series of conducted experiments, the results of the proposed approach for different maps with different number of robots and the advantage of the use of the BDI model that makes the robots instantly readjust their calculations when a change occurs on the network.

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Authors and Affiliations

  1. Ecole Nationale des Sciences de l’Informatique, Université de la Manouba, Manouba, Tunisia

    Nourchene Ben Slimane & Moncef Tagina

Authors
  1. Nourchene Ben Slimane
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  2. Moncef Tagina
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Corresponding author

Correspondence to Nourchene Ben Slimane .

Editor information

Editors and Affiliations

  1. Faculty of Information Technology, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Ngoc Thanh Nguyen

  2. Department of Computer Science and Creative Technologies, University of the West of England, Bristol, United Kingdom

    Elias Pimenidis

  3. Department of Computer Science and Creative Technologies, University of the West of England, Bristol, United Kingdom

    Zaheer Khan

  4. Faculty of Computer Science and Management, Wrocław University of Science and Technology, Wrocław, Poland

    Bogdan Trawiński

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Ben Slimane, N., Tagina, M. (2018). Proposition of a BDI-Based Distributed Partitioning Approach for a Multirobot System. In: Nguyen, N., Pimenidis, E., Khan, Z., Trawiński, B. (eds) Computational Collective Intelligence. ICCCI 2018. Lecture Notes in Computer Science(), vol 11056. Springer, Cham. https://doi.org/10.1007/978-3-319-98446-9_12

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  • DOI: https://doi.org/10.1007/978-3-319-98446-9_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-98445-2

  • Online ISBN: 978-3-319-98446-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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