Adaptive knowledge-based action selection architecture for multiple mobile robots

D. T. Pham; M. H. Awadalla; E. E. Eldukhri

doi:10.3182/20060517-3-fr-2903.00075

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 proceeding › Conference contribution

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	12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings
Subtitle of host publication	EMM'2006, BPM'2006, JT'2006
Publisher	IFAC Secretariat
Edition	PART 1
ISBN (Print)	9783902661043
DOIs	https://doi.org/10.3182/20060517-3-fr-2903.00075
Publication status	Published - 2006
Externally published	Yes

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	12
ISSN (Print)	1474-6670

Keywords

Behaviour coordination
Collective behaviour
Fuzzy logic technique
Multiple mobile robots

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20060517-3-fr-2903.00075

Cite this

Pham, D. T., Awadalla, M. H., & Eldukhri, E. E. (2006). Adaptive knowledge-based action selection architecture for multiple mobile robots. In 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006 (PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 12, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20060517-3-fr-2903.00075

Adaptive knowledge-based action selection architecture for multiple mobile robots. / Pham, D. T.; Awadalla, M. H.; Eldukhri, E. E.
12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006. PART 1. ed. IFAC Secretariat, 2006. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 12, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Pham, DT, Awadalla, MH & Eldukhri, EE 2006, Adaptive knowledge-based action selection architecture for multiple mobile robots. in 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 12, IFAC Secretariat. https://doi.org/10.3182/20060517-3-fr-2903.00075

Pham DT, Awadalla MH, Eldukhri EE. Adaptive knowledge-based action selection architecture for multiple mobile robots. In 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006. PART 1 ed. IFAC Secretariat. 2006. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1). doi: 10.3182/20060517-3-fr-2903.00075

Pham, D. T. ; Awadalla, M. H. ; Eldukhri, E. E. / Adaptive knowledge-based action selection architecture for multiple mobile robots. 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006. PART 1. ed. IFAC Secretariat, 2006. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1).

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Adaptive knowledge-based action selection architecture for multiple mobile robots

Abstract

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Keywords

ASJC Scopus subject areas

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