ARGO: An Extended Jason Architecture that Facilitates Embedded Robotic Agents Programming

  • Carlos Eduardo Pantoja
  • Márcio Fernando StabileJr.
  • Nilson Mori Lazarin
  • Jaime Simão Sichman
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10093)

Abstract

This paper presents ARGO, a customized Jason architecture for programming embedded robotic agents using the Javino middleware and perception filters. Jason is a well known agent-oriented programming language that relies on the Belief-Desire-Intention model and implements an AgentSpeak interpreter in Java. Javino is a middleware that enables automated design of embedded agents using Jason and it is aimed to be used in the robotics domain. However, when the number of perceptions increases, it may occur a bottleneck in the agent’s reasoning cycle since an event is generated for each single perception processed. A possible solution to this problem is to apply perception filters, that reduce the processing cost. Consequently, it is expected that the agent may deliberate within a specific time limit. In order to evaluate ARGO’s performance, we present some experiments using a ground vehicle platform in a real-time collision scenario. We show that in certain cases the use of perception filters is able to prevent collisions effectively.

References

  1. 1.
    Barros, R.S., Heringer, V.H., Lazarin, N.M., Pantoja, C.E., Moraes, L.M.: An agent-oriented ground vehicle’s automation using Jason framework. In: 6th International Conference on Agents and Artificial Intelligence, pp. 261–266 (2014)Google Scholar
  2. 2.
    Bordini, R.H., Hübner, J.F., Wooldridge, M.: Programming Multi-Agent Systems in AgentSpeak using Jason. John Wiley & Sons Ltd., Chichester (2007)CrossRefMATHGoogle Scholar
  3. 3.
    Bratman, M.E.: Intention, Plans and Practical Reasoning. Cambridge Press, Cambridge (1987)Google Scholar
  4. 4.
    Calce, A., Forooshani, P.M., Speers, A., Watters, K., Young, T., Jenkin, M.R.: Autonomous aquatic agents. In: ICAART (1), pp. 372–375 (2013)Google Scholar
  5. 5.
    Chen, S.Y.: Kalman filter for robot vision: a survey. IEEE Trans. Industr. Electron. 59(11), 4409–4420 (2012)CrossRefGoogle Scholar
  6. 6.
    Clark, K., Robinson, P.: Robotic agent programming in TeleoR. In: 2015 IEEE International Conference on Robotics and Automation, pp. 5040–5047 (2015)Google Scholar
  7. 7.
    Dastani, M., de Boer, F., Dignum, F., Van Der Hoek, W., Kroese, M., Meyer, J.J., et al.: Programming the deliberation cycle of cognitive robots. In: Proceedings of the 3rd International Cognitive Robotics Workshop (2002)Google Scholar
  8. 8.
    Guinelli, J.V., Junger, D., Pantoja, C.E.: An analysis of Javino middleware for robotic platforms using Jason and JADE frameworks. In: 10th Software Agents, Environments and Applications School (2016)Google Scholar
  9. 9.
    Hama, M.T.: Uma plataforma orientada a agentes para o desenvolvimento de software em veículos aéreos não-tripulados. Master’s thesis, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil (2012)Google Scholar
  10. 10.
    Hindriks, K.V.: Programming rational agents in GOAL. In: Seghrouchni, A., Dix, J., Dastani, M., Bordini, H.R. (eds.) Multi-Agent Programming: Languages, Tools and Applications, pp. 119–157. Springer, Boston (2009)CrossRefGoogle Scholar
  11. 11.
    Hindriks, K.V., De Boer, F.S., Van der Hoek, W., Meyer, J.J.C.: Agent programming in 3APL. Auton. Agent. Multi-Agent Syst. 2(4), 357–401 (1999)CrossRefGoogle Scholar
  12. 12.
    Jain, R.: Art of Computer Systems Performance Analysis: Techniques For Experimental Design Measurements Simulation and Modeling. Wiley (2015)Google Scholar
  13. 13.
    Kuiper, D.M., Wenkstern, R.Z.: Agent vision in multi-agent based simulation systems. Auton. Agent. Multi-Agent Syst. 29(2), 161–191 (2015)CrossRefGoogle Scholar
  14. 14.
    Lazarin, N.M., Pantoja, C.E.: A robotic-agent platform for embedding software agents using raspberry pi and arduino boards. In: 9th Software Agents, Environments and Applications School (2015)Google Scholar
  15. 15.
    Morais, M., Meneguzzi, F., Bordini, R., Amory, A.: Distributed fault diagnosis for multiple mobile robots using an agent programming language. In: 2015 International Conference on Advanced Robotics (ICAR), pp. 395–400 (2015)Google Scholar
  16. 16.
    Mordenti, A., Ricci, A., Santi, D.I.A.: Programming robots with an agent-oriented bdi-based control architecture: Explorations using the jaca and webots platforms. Bologna, Italy, Technical report (2012)Google Scholar
  17. 17.
    Rao, A.S.: AgentSpeak(L): BDI agents speak out in a logical computable language. In: Velde, W., Perram, J.W. (eds.) MAAMAW 1996. LNCS, vol. 1038, pp. 42–55. Springer, Heidelberg (1996). doi:10.1007/BFb0031845 CrossRefGoogle Scholar
  18. 18.
    Ricci, A., Piunti, M., Viroli, M., Omicini, A.: Environment programming in CArtAgO. In: Seghrouchni, A., Dix, J., Dastani, M., Bordini, H.R. (eds.) Multi-Agent Programming: Languages, Tools and Applications, pp. 259–288. Springer, Boston (2009)CrossRefGoogle Scholar
  19. 19.
    Santos, F.R., Hübner, J.F., Becker, L.B.: Concepção e análise de um modelo de agente BDI voltado para o planejamento de rota em um VANT. In: 9th Software Agents, Environments and Applications School (2015)Google Scholar
  20. 20.
    Stabile Jr., M.F., Sichman, J.S.: Evaluating perception filters in BDI Jason agents. In: 4th Brazilian Conference on Intelligent Systems (BRACIS) (2015)Google Scholar
  21. 21.
    Wei, C., Hindriks, K.V.: An agent-based cognitive robot architecture. In: Dastani, M., Hübner, J.F., Logan, B. (eds.) ProMAS 2012. LNCS (LNAI), vol. 7837, pp. 54–71. Springer, Heidelberg (2013). doi:10.1007/978-3-642-38700-5_4 CrossRefGoogle Scholar
  22. 22.
    Wooldridge, M.J.: Reasoning About Rational Agents. MIT Press, Cambridge (2000)MATHGoogle Scholar

Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Carlos Eduardo Pantoja
    • 1
    • 4
  • Márcio Fernando StabileJr.
    • 2
  • Nilson Mori Lazarin
    • 1
  • Jaime Simão Sichman
    • 3
  1. 1.Centro Federal de Educação Tecnológica (CEFET/RJ)Rio de JaneiroBrazil
  2. 2.Instituto de Matemática e EstatísticaUniversidade de São PauloSão PauloBrazil
  3. 3.Escola PolitécnicaUniversidade de São PauloSão PauloBrazil
  4. 4.Universidade Federal FluminenseNiteróiBrazil

Personalised recommendations