Adaptive knowledge-based action selection architecture for multiple mobile robots

D. T. Pham*, M. H. Awadalla, E. E. Eldukhri

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 languageEnglish
Title of host publication12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings
Subtitle of host publicationEMM'2006, BPM'2006, JT'2006
PublisherIFAC Secretariat
EditionPART 1
ISBN (Print)9783902661043
Publication statusPublished - 2006
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Behaviour coordination
  • Collective behaviour
  • Fuzzy logic technique
  • Multiple mobile robots

ASJC Scopus subject areas

  • Control and Systems Engineering


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