Hybrid planning approaches for multirobot systems: A review and a proposal of a MultiAgent subsumption simulation

Autonomous MultiRobot Systems are developing useful capabilities in several fields of applications as surveillance, exploration and space cleaning. Moreover, important features are of robotics´ environments like avoid collision and planning should be handled. Furthermore, the distributed planning approaches, considered as MultiAgent planning, can be thought as a specialization of distributed problem solving. Therefore, this paper started by propounds a review on some planning approaches for MultiRobot Systems and describes the subsumption architecture of the mobile robot control in the MultiRobot system by highlighting the lowest level which is the obstacle avoidance using the soft computing technique. We present also in this research a simulation of MultiRobot for parallel spaces cleaning.