Agent-Based Mobile Robots Navigation Framework

  • Wojciech Turek
  • Robert Marcjan
  • Krzysztof Cetnarowicz
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3993)


The problem of mobile robot navigation has received a noticeable attention over last few years. Several different approaches were presented, each having major limitations. In this paper a new, agent-based solution the problem of mobile robots navigation is proposed. It is based on a novel representation of the environment, that divides it into a number of distinct regions, and assigns autonomous software Space Agents to supervise it. Space Agents create a graph, that represents a high-level structure of the entire environment. The graph is used as a virtual space, that robot controlling agents work in. The most important features of the approach are: path planning for multiple robots based on most recent data available in the system, automated collision avoidance, simple localization of a ”lost robot” and unrestricted scalability.


Mobile Robot Path Planning Collision Avoidance Sensor Reading Certainty Factor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Wojciech Turek
    • 1
  • Robert Marcjan
    • 1
  • Krzysztof Cetnarowicz
    • 1
  1. 1.Institute of Computer ScienceAGH University of Science and TechnologyKrakowPoland

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