Implementation and Evaluation of a Satisfaction/Altruism Based Architecture for Multi-Robot Systems - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2002

Implementation and Evaluation of a Satisfaction/Altruism Based Architecture for Multi-Robot Systems

Abstract

We have developed an agent’s architecture towards the goal of building efficient, robust and safe multi-robot systems considered as cooperating distributed reactive agents. This architecture is based on satisfaction and altruism allowing the agents to amend their low-level behavior like goal seeking and collision avoidance in order to solve more complex problems. We demonstrate in particular that local conflicting and locking situations are automatically avoided or made repulsive. Computer simulations of tasks in complex environments confirm it. The designed mini-robots, the implementation of their architecture, and the communication protocol are described. The same hardware is shared between communication, collision avoidance, and task achievement. Experiments using two mobile robots and a test bed confirm the theoretical and simulation results.
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Dates and versions

lirmm-00269416 , version 1 (03-04-2008)

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Philippe Lucidarme, Olivier Simonin, Alain Liégeois. Implementation and Evaluation of a Satisfaction/Altruism Based Architecture for Multi-Robot Systems. ICRA: International Conference on Robotics and Automation, May 2005, Washington, United States. pp.1007-1012, ⟨10.1109/ROBOT.2002.1013487⟩. ⟨lirmm-00269416⟩
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