A Proposal of a Multi-agent System Implementation for the Control of an Assistant Personal Robot
This paper proposes a control system design for a mobile robot assistant based on a multi-agent architecture. The robotic platform used in this paper is a second generation Assistant Personal Robot (APR-02) with an own design. The control implementation is distributed among different agents in which each one is designed to fulfill a specific functionality such as localization, navigation, task managing, vision, hearing, communications, and environmental supervision. In addition, a set of shared memory instances are implemented to ensure the cohesion among all the agents while working together. The proposed methodology provides robustness and effectiveness by assigning each agent on a single CPU thread.
KeywordsRobot agent Personal Robot Multi-agent
Unable to display preview. Download preview PDF.
- 2.Thrun, S.: Robotic mapping: A survey. Exploring Artificial Intelligence in the New Millennium, 1–35 (2002)Google Scholar
- 5.Py, F., Rajan, K., McGann, C.: A systematic agent framework for situated autonomous systems. In: 9th International Conference on Autonomous Agents and Multiagent Systems, vol. 2, pp. 583–590 (2010)Google Scholar
- 7.Gross, H. M., Schroeter, C., Mueller, S., Volkhardt, M., Einhorn, E., Bley, A., Merten, M.: Progress in developing a socially assistive mobile home robot companion for the elderly with mild cognitive impairment. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2430–2437 (2011)Google Scholar
- 9.Clotet, E., Martínez, D., Moreno, J., Tresanchez, M., Palacín, J.: Development of a high mobility assistant personal robot for home operation. In: Advances in Intelligent Systems and Computing, vol. 376, pp. 65–73 (2015)Google Scholar
- 11.Vilarrubi, M., Tresanchez, M., Martinez, D., Moreno, J., Garriga, J.A., Claria, F., Palacin, J.: Time domain detection of pure vowel sounds for simplified computer interaction. In: 17th International Conference on Information Fusion (FUSION), pp. 1–6 (2014)Google Scholar