A cooperative multi-agent robotics system: design and modelling

García Cena, Cecilia Elisabet and Cardenas Herrera, Pedro Fabian and Saltaren Pazmiño, Roque Jacinto and Puglisi, Lisandro Jose and Aracil Santonja, Rafael (2013). A cooperative multi-agent robotics system: design and modelling. "Expert Systems with Applications", v. 40 (n. 12); pp. 4737-4748. ISSN 0957-4174. https://doi.org/10.1016/j.eswa.2013.01.048.

Description

Title: A cooperative multi-agent robotics system: design and modelling
Author/s:
  • García Cena, Cecilia Elisabet
  • Cardenas Herrera, Pedro Fabian
  • Saltaren Pazmiño, Roque Jacinto
  • Puglisi, Lisandro Jose
  • Aracil Santonja, Rafael
Item Type: Article
Título de Revista/Publicación: Expert Systems with Applications
Date: 15 September 2013
Volume: 40
Subjects:
Freetext Keywords: Robotic agent; Mechatronics; Mobile robot kinematics; Mobile robot motion-planning; Cooperative systems
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 paper presents the development of the robotic multi-agent system SMART. In this system, the agent concept is applied to both hardware and software entities. Hardware agents are robots, with three and four legs, and an IP-camera that takes images of the scene where the cooperative task is carried out. Hardware agents strongly cooperate with software agents. These latter agents can be classified into image processing, communications, task management and decision making, planning and trajectory generation agents. To model, control and evaluate the performance of cooperative tasks among agents, a kind of PetriNet, called Work-Flow Petri Net, is used. Experimental results shows the good performance of the system.

More information

Item ID: 29098
DC Identifier: http://oa.upm.es/29098/
OAI Identifier: oai:oa.upm.es:29098
DOI: 10.1016/j.eswa.2013.01.048
Official URL: http://www.sciencedirect.com/science/article/pii/S0957417413000791
Deposited by: Memoria Investigacion
Deposited on: 05 Jun 2014 11:22
Last Modified: 11 Oct 2018 08:36
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