2016 | OriginalPaper | Chapter
A Proposal of a Multi-agent System Implementation for the Control of an Assistant Personal Robot
Authors : Dani Martínez, Eduard Clotet, Javier Moreno, Marcel Tresanchez, Jordi Palacín
Published in: Trends in Practical Applications of Scalable Multi-Agent Systems, the PAAMS Collection
Publisher: Springer International Publishing
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This paper proposes a control system design for a mobile robot assistant based on a multi-agent architecture. The robotic platform used in this paper is a second generation Assistant Personal Robot (APR-02) with an own design. The control implementation is distributed among different agents in which each one is designed to fulfill a specific functionality such as localization, navigation, task managing, vision, hearing, communications, and environmental supervision. In addition, a set of shared memory instances are implemented to ensure the cohesion among all the agents while working together. The proposed methodology provides robustness and effectiveness by assigning each agent on a single CPU thread.