System assessement and distributed control system architecture

Cooperation tasks among distributed and autonomous systems require: 1) assessments of the systems current capabilities in relation to the goal and, 2) assessments of the systems current actions in relation to the goal. These assessments should lead to decisions and/or actions in relation to the completion of the cooperation task. In this paper, an assessment strategy is presented for implementation in a distributed control system architecture that focuses on a cooperation task. The assessment strategy was developed for high level decision-making and was based on fuzzy logic type-I. The assessment strategy and the distributed control architecture were implemented in a Matlab environment and tested using a group of simulated differential-drive mobile robots to perform a specific cooperation task.