Abstract
In this paper we propose a refined version of the COMROS multi agent robot architecture. The concepts we use to define the operational principles of our architecture are autonomy of each functional module, task decomposition, and decentralized control. The structure of our architecture is defined by elementary agents which are connected by two types of networks. Furthermore, we describe how formation driving can be realized within the architecture.
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
Bayer, H., Th. Bräunt, A. Rausch, M. Sommeraul, and P. Levi. (1995). Autonomous Vehicle Control by Remote Computer. In U. Rembold, R. Dillmann, L.O. Hertzberger, and T. Kanade, editors, Intelligent Autonomous Systems IAS-4, pages 158–165, Amsterdam, Oxford, Washington DC, 1995. University of Karlsruhe, IOS Press.
Becht, ML, M. Muscholl, and P. Levi. (1997). Ein Framework für Kooperationsverfahren zwischen Roboteragenten. In P. Levi, Th. Bräunl, and N. Oswald, editors, Autonome Mobile Systeme 1997, Informatik aktuell, Berlin u. a., Springer
Becht, M., M. Muscholl, and P. Levi. (1998). Transformable Multi-Agent Systems: A specification language for cooperation processes. In Proceedings of the World Automation Congress (WAC), Sixth International Symposium on Manufacturing with Applications (ISOMA), 1998.
Cao, Y.U., A.S. Fukunaga and A.B. Khang (1997). Cooperative Mobile Robotics: Antecendents and Directions. Autonomous Robots 4, 7–27
Hexmoor, II. (ed.) (1997). Journal of Experimental & Theoretical Artificial Intelligence, Vol. 9, Nos. 2–3
Levi, P., M. Muscholl, and Th. Bräunl. (1995). Cooperative Mobile Robots Stuttgart: Architecture and Tasks. In U. Rembold, R. Dillmann, L.O. Hertzberger, and T. Kanade, editors, Intelligent Autonomous Systems IAS-4, pages 310–317, Amsterdam, Oxford, Washington DC, 1995. University of Karlsruhe, IOS Press.
Levi, P., M. Schanz, and V. Avrutin. (1998). Modelling and analysis of a simple manufacturing-oriented multi-agent system. In Intelligent Autonomous Systems 5, 1998
Längle, Th., T. Lüth and M. Hesse (1996). VerklemmungsfreieAgentenkooperation in verteilten Robotersystemen. In Autonome Mobile Systeme 1996, Springer Informatik Aktuell
Mataric, M. (1997). Bahavior-based Control: Examples from Navigation, Learning, and Group Behavior. Journal of Experimental and Theoretical AI Vol. 9, Nos. 2–3, pp. 323–336
Parker, L.E. (1994). Heterogeneous Multi-Robot Cooperation. PhD Thesis, MIT
Wettstein H. (1993). Systemarchitektur. Hanser Studienbücher der Informatik. Hanser, München - Wien, 1993.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Levi, P., Becht, M., Lafrenz, R., Muscholl, M. (1998). COMROS — A Multi-Agent Robot Architecture. In: Distributed Autonomous Robotic Systems 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-72198-4_23
Download citation
DOI: https://doi.org/10.1007/978-3-642-72198-4_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-72200-4
Online ISBN: 978-3-642-72198-4
eBook Packages: Springer Book Archive