Multi-Robot Systems: From Finite Automata to Multi-Agent Systems

2016

Many agent-based architectures have been developed to facilitate the improvement of multi-robot systems which are able of performing robust cooperative work. This paper presents a layered architecture to simulate a robot-like agent. Different layers are defined for the software architecture with focusing on openness, flexibility, robustness and optimization properties. The proposed architecture aims to provide a well-structured and managed system for task execution, behaviour and decision-making of multi-robot system (MRS). Based on these ideas, we present a three-tiered agent architecture to harness many aspects of intelligence. Agents continuously observe the environment, in the reactive layer and act accordingly. The sequencing layer provides the means for planning, and task execution. We propose a fuzzy membership function, in the deliberate layer, to choose the appropriate plan during action selection using the satisfaction degree. This method is undertaken to illustrate, evalu...

Autonomous Robots, 2000

The potential of flexible-manufacturing workcells (FMCs) to produce a family of parts in many possible orders of operations and choices of different machines is advantageous. Despite intensive research on the theoretical control of discrete-event systems (DESs), however, current techniques can still only be used for the supervisory control of simple cells. In this paper, a novel modeling and control synthesis technique is presented for FMCs that allow part-routing flexibility. Our proposed methodology combines Extended Moore Automata (EMA) and Controlled-Automata theories to synthesize supervisors for such FMCs.

Expert Systems with Applications, 2013

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 Petri Net, called Work-Flow Petri Net, is used. Experimental results shows the good performance of the system.

IEMC '03 Proceedings. Managing Technologically Driven Organizations: The Human Side of Innovation and Change (IEEE Cat. No.03CH37502), 2000

Work shows that automata theory can be useful for engineering, developing and documenting multi-agent systems. Algorithmization and programming principles for logic control are formulated, regarding algorithms and programs as finite automata. This work was performed with the help of Russian Fund of Fundamental Investigations according to grant 02-07-90114..

Automata-based approach, proposed for the programming of the virtual autonomous reactive agents control systems used in the famous "Robocode" game is extended in this paper to the creation of the control systems of the reactive multi-agent real-life environment agents. We demonstrate the efficiency of the proposed approach by the example of creation of transportation system, which consists of two interacting robots and is assembled from the famous "Lego Mindstorms" kit. The advantage of this approach is the formalization of the implementation process and the simplification of testing and modification.

Advances in Networked Enterprises, 2000

This paper focuses on the discussions of innovative Multi-Agent approach to advanced real time control for flexible manufacturing systems. The architecture is based on the paradigm of Distributed Intelligence and Multi-Agent systems. This Multi-Agent prototype system involves the following functions: Scheduling, dispatching, monitoring and error handling. A new negotiation protocol for manufacturing system is also presented in this paper. The purpose of this protocol is to dynamically assign operations to the resources of the Manufacturing System in order to accomplish the proposed tasks. This protocol is able to deal with exceptions.

IEEE/WIC International Conference on Intelligent Agent Technology, 2003. IAT 2003., 2003

The design of a an agent system for robotics is a problem that involves aspects coming from many different disciplines (robotics, artificial intelligence, computer vision, software engineering). The most difficult part of it often consists in producing and tuning the algorithms that incorporates the robot behavior (planning, obstacle avoidance, ) and abilities (vision, manipulation, navigation, ). It is frequent that the reuse of this parts is left to a copy and paste procedure from previous applications to the new one. In so doing many problems could arises. We propose a comprehensive approach for multi-agent systems oriented to robotics applications that uses a complete design methodology supported by a specific design tools and a pattern repository that interacting each other and with the designer allow the production of a coherent design that easily incorporates patterns coming from previously experienced features and automatically produces a large part of the final code

Procedia Engineering, 2014

Current technology and especially Artificial Intelligence effectively increase productivity and take cost out of operations in the Manufacturing sector. One of the main representatives of information technology in the industrial applications are agents. This paper suggests a way to a) categorize multi-agent systems according to the coordination mode among agents and b) classify agents that take action on them, depending on their functions It examines the main approaches of multi-agent architectures, according to their coordination way. The main coordination types are: a) centralized multi-agent coordination (or coordinator agents), in which one central agent undertakes the collection of partial plans from agents, combines them in a plan and solves possible conflicts and b) decentralized multi-agent coordination (or autonomous agents), in which agents are not controlled by a central agent although they communicate with each other for the creation of their plans and the solution of possible arguments. Although there are several aspects that we can consider in order to classify CAD, CAPP and CAM multi-agent systems, this review develops a classification scheme, based on interaction characteristics.

Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999

This paper presents a distributed planning and control architecture for autonomous Multi-Manipulator Systems (MMS). The control architecture is implemented using an agent-based approach. A team of distributed and autonomous agents is deployed to model the flexible assembly system in such a way that the agents negotiate, collaborate, and cooperate to achieve the goals of assembly tasks.

International Conference on Integration of Knowledge Intensive Multi-Agent Systems, 2005., 2000

Automata-based approach, proposed for the programming of the virtual autonomous reactive agents control systems used in the famous "Robocode" game is extended in this paper to the creation of the control systems of the reactive multi-agent real-life environment agents. We demonstrate the efficiency of the proposed approach by the example of creation of transportation system, which consists of two interacting robots and is assembled from the famous "Lego Mindstorms" kit. The advantage of this approach is the formalization of the implementation process and the simplification of testing and modification.

2006 IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, 2006

The technology of modeling of one class of multiagent systems with automata based programming is proposed in the paper. The technology is illustrated on the example of system of interacting drone flying objects creation. UniMod -a tool intended for supporting automata based programming is used for building a control system for each flying object. UniMod also supports the concept of "executable UML".

2001

This paper presents a model for the control of autonomous robots that allows cooperation among them. The control structure is based on a general purpose multi-agent architecture using a hybrid approach made up by two levels. One level is composed of reactive skills capable of achieving simple actions by their own. The other one uses an agenda used as an opportunistic planning mechanism to compound, activate and coordinate the basic skills. This agenda handles actions both from the internal goals of the robot or from other robots. This two level approach allows the integration of real-time response of reactive systems needed for robot low-level behavior, with a classical high level planning component that permits a goal oriented behavior. The paper describes the architecture itself, and its use in three different domains, including real robots, as well as the issues arising from its adaptation to the RoboCup simulator domain.

2019 International Conference on Robotics and Automation (ICRA), 2019

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states activities were associated. In that approach communication between subsystems was treated as an implementation issue. This paper represents activities of a robot system using hierarchical Petri nets with conditions. Such net is created by specifying consecutive layers: multi-agent robot system layer, agent layer, subsystem layer, behaviour layer and communication layer. This decomposition not only organizes in a systematic manner the development of a robot system, but also introduces a comprehensive description of concurrently acting subsystems. Based on those theoretical considerations, a tool was created for producing hierarchical Petri nets defining the model of a robotic system and enabling automatic generation of the robot controller code, resulting in a significant acceleration of the implementation phase. The capabilities of the tool are presented by the development of a robot controller performing a rudimentary task.

1996

This paper describes a framework for specifying robotic agents in a modular way. The framework is based on nite state machines together with a set of operators that allow the description of a complex system from its components. The nite state machine model allows the presented framework to bene t from available controller synthesis and veri cation methodologies. The set of operators is motivated by execution scenarios and system architecture that are common within the area of robotics. They are adopted from operators o ered in several process algebras.

2007

A Multi-Agent System Architecture is here justified and described for the sake of its application to an Assembly Robotics Testbed. Cooperative policies between distributed Agents, leading to either Negotiation or Client/Server protocols, as well as appropriate knowledge have been studied, classified and implemented. This specific architecture as well as knowledge are then responsible for sophisticated behavior both in terms of inter-Agent Cooperation and Agent local control. Several scenaria where different cooperative and ...