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Flexible real-time control of home robots using a multi-agent based approach

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2 Author(s)
Chia-How Lin ; Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Kai-Tai Song

This paper presents a multi-agent approach to developing a flexible real-time control system for an autonomous mobile robot. The main purpose of this study is to integrate heterogeneous algorithms and functions onboard the robot, while still to guarantee a reasonable responding time. The balance between generality and flexibility is also addressed. This strategy provides a framework for developing complex intelligent machines through teamwork of several people. The proposed control system has been implemented on an experimental robot based on a real-time Linux platform. Practical experiments show that the robot successfully navigates through complex environments by combining visual tracking, obstacle avoidance, and command receiving behaviors in a single system.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

28 Sept.-2 Oct. 2004