Abstract
This paper proposes a biologically-inspired collective behaviour for a team of co-operating robots. A modification of the subsumption architecture is proposed for implementing the control of the individual robots. The paper proposes a new approach of fuzzy logic technique to enable the resolution of conflicts between contradictory behaviours within each robot. Furthermore, a novel adaptive knowledge-based software architecture has been developed that enables team of robot agents to achieve adaptive cooperative control. Simulated and real experiments have been conducted on team of mobile robots performing two proof-of-concept co-operative tasks: dynamic target tracking and box-pushing.
| Original language | English |
|---|---|
| Title of host publication | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 12 |
| Edition | PART 1 |
| Publication status | Published - 2006 |
| Event | 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006 - Saint - Etienne, France Duration: May 17 2006 → May 19 2006 |
Other
| Other | 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006 |
|---|---|
| Country | France |
| City | Saint - Etienne |
| Period | 5/17/06 → 5/19/06 |
Fingerprint
Keywords
- Behaviour coordination
- Collective behaviour
- Fuzzy logic technique
- Multiple mobile robots
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Adaptive knowledge-based action selection architecture for multiple mobile robots. / Pham, D. T.; Awadalla, M. H.; Eldukhri, E. E.
IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 12 PART 1. ed. 2006.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive knowledge-based action selection architecture for multiple mobile robots
AU - Pham, D. T.
AU - Awadalla, M. H.
AU - Eldukhri, E. E.
PY - 2006
Y1 - 2006
N2 - This paper proposes a biologically-inspired collective behaviour for a team of co-operating robots. A modification of the subsumption architecture is proposed for implementing the control of the individual robots. The paper proposes a new approach of fuzzy logic technique to enable the resolution of conflicts between contradictory behaviours within each robot. Furthermore, a novel adaptive knowledge-based software architecture has been developed that enables team of robot agents to achieve adaptive cooperative control. Simulated and real experiments have been conducted on team of mobile robots performing two proof-of-concept co-operative tasks: dynamic target tracking and box-pushing.
AB - This paper proposes a biologically-inspired collective behaviour for a team of co-operating robots. A modification of the subsumption architecture is proposed for implementing the control of the individual robots. The paper proposes a new approach of fuzzy logic technique to enable the resolution of conflicts between contradictory behaviours within each robot. Furthermore, a novel adaptive knowledge-based software architecture has been developed that enables team of robot agents to achieve adaptive cooperative control. Simulated and real experiments have been conducted on team of mobile robots performing two proof-of-concept co-operative tasks: dynamic target tracking and box-pushing.
KW - Behaviour coordination
KW - Collective behaviour
KW - Fuzzy logic technique
KW - Multiple mobile robots
UR - http://www.scopus.com/inward/record.url?scp=79961193361&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961193361&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9783902661043
VL - 12
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
ER -