Functional distribution among multiple mobile robots in an autonomous and decentralized robot system

Author

Asama, Hajime ; Habib, Maki Khalil ; Endo, Isao ; Ozaki, Koichi ; Matsumoto, Akihiro ; Ishida, Yoshiki

Author_Institution

Chem. Eng. Lab., Inst. of Phys. & Chem. Res., Saitama, Japan

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1921

Abstract

An autonomous and decentralized robot system, ACTRESS, is being developed as an intelligent robot system which can execute high level tasks. The concept of ACTRESS is introduced, and the communication framework between robotic agents that compose the robot system is proposed. Taking a task of pushing objects by multiple mobile robots in a certain working environment as a case study of ACTRESS, the strategy for organizing the robot system is discussed, and the required functions for the robot system are introduced. The optimal distribution of the functions is designed based on communication evaluation. An algorithm for static path planning and a strategy for dynamic path planning are proposed

Keywords

computerised navigation; data communication systems; decentralised control; distributed processing; mobile robots; planning (artificial intelligence); ACTRESS; artificial intelligence; autonomous decentralised robot system; data communications; dynamic path planning; functional distribution; intelligent robot; multiple mobile robots; static path planning; Chemical engineering; Intelligent robots; Machinery; Mechanical engineering; Mobile communication; Mobile robots; Navigation; Path planning; Power generation; Protocols;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131907

Filename

131907