Design and modeling of the multi-agent robotic system: SMART

García Cena, Cecilia Elisabet and Cardenas Herrera, Pedro Fabian and Puglisi, Lisandro Jose and Saltaren Pazmiño, Roque Jacinto (2012). Design and modeling of the multi-agent robotic system: SMART. "Robotics and Autonomous Systems", v. 60 (n. 2); pp. 143-153. ISSN 0921-8890. https://doi.org/10.1016/j.robot.2011.09.007.

Description

Title: Design and modeling of the multi-agent robotic system: SMART
Author/s:
  • García Cena, Cecilia Elisabet
  • Cardenas Herrera, Pedro Fabian
  • Puglisi, Lisandro Jose
  • Saltaren Pazmiño, Roque Jacinto
Item Type: Article
Título de Revista/Publicación: Robotics and Autonomous Systems
Date: February 2012
ISSN: 0921-8890
Volume: 60
Subjects:
Freetext Keywords: Communication architecture, Multi-agent robotic systems, Cooperative robots, Concurrent system
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This article presents the design, kinematic model and communication architecture for the multi-agent robotic system called SMART. The philosophy behind this kind of system requires the communication architecture to contemplate the concurrence of the whole system. The proposed architecture combines different communication technologies (TCP/IP and Bluetooth) under one protocol designed for the cooperation among agents and other elements of the system such as IP-Cameras, image processing library, path planner, user Interface, control block and data block. The high level control is modeled by Work-Flow Petri nets and implemented in C++ and C♯♯. Experimental results show the performance of the designed architecture.

More information

Item ID: 16767
DC Identifier: http://oa.upm.es/16767/
OAI Identifier: oai:oa.upm.es:16767
DOI: 10.1016/j.robot.2011.09.007
Official URL: http://www.sciencedirect.com/science/article/pii/S0921889011001862
Deposited by: Memoria Investigacion
Deposited on: 04 Oct 2013 12:40
Last Modified: 11 Oct 2018 08:39
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