Generic Architecture for Multi-AUV Cooperation Based on a Multi-Agent Reactive Organizational Approach

Nicolas Carlési 1 Fabien Michel 2 Bruno Jouvencel 3 Jacques Ferber 2
2 SMILE - Système Multi-agent, Interaction, Langage, Evolution
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Because Autonomous Underwater Vehicles (AUVs) have limited perception and communication capabilities, designing efficient AUV flotillas is challenging. Existing solutions are often strongly related to (1) a specific kind of mission and (2) the nature of the considered AUVs. So, it is difficult to reuse these approaches when switching to another mission context. This paper proposes a generic multi-agent based layered architecture for designing and specifying AUV flotillas at a high level of abstraction, regardless of the AUVs characteristics and skills. To this end, an organizational model is used to ease and regulate interactions between heterogeneous AUVs and combined with a behavioral reactive approach for limiting communication.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00629421
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Submitted on : Wednesday, October 5, 2011 - 5:56:09 PM
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Nicolas Carlési, Fabien Michel, Bruno Jouvencel, Jacques Ferber. Generic Architecture for Multi-AUV Cooperation Based on a Multi-Agent Reactive Organizational Approach. IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, CA, United States. pp.5041-5047. ⟨lirmm-00629421⟩

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