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A structured dynamic multi-agent architecture for controlling mobile office-conversant robot

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3 Author(s)
Asoh, H. ; Real World Intelligence Center, Electrotech. Lab., Ibaraki, Japan ; Hara, I. ; Matsui, T.

This paper proposes a multi-agent software architecture for controlling higher level behaviors of a mobile office-conversant robot. In order to keep the whole system comprehensive and extensible, a group structure is introduced into multi-agent architecture. In the architecture, the whole system is divided into several behavior-manager agents and the behavior-manager manages multiple behavior agents, which are dynamically created and destroyed on demands. Several behaviors and behavior-managers are implemented as classes of an object-oriented Lisp. Dialog-based map learning and teleoperation experiments with real mobile robot Jijo-2 are shown for evaluating the architecture

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:2 )

Date of Conference:

16-20 May 1998