Adaptive knowledge-based action selection architecture for multiple mobile robots

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume12
EditionPART 1
Publication statusPublished - 2006
Event12th 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 2006May 19 2006

Other

Other12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006
CountryFrance
CitySaint - Etienne
Period5/17/065/19/06

Fingerprint

Mobile robots
Robots
Software architecture
Target tracking
Fuzzy logic
Experiments

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Pham, D. T., Awadalla, M. H., & Eldukhri, E. E. (2006). Adaptive knowledge-based action selection architecture for multiple mobile robots. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 12)

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 proceedingConference contribution

Pham, DT, Awadalla, MH & Eldukhri, EE 2006, Adaptive knowledge-based action selection architecture for multiple mobile robots. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 12, 12th IFAC Symposium on Information Control Problems in Manufacturing, INCOM 2006, and Associated Industrial Meetings: EMM'2006, BPM'2006, JT'2006, Saint - Etienne, France, 5/17/06.
Pham DT, Awadalla MH, Eldukhri EE. Adaptive knowledge-based action selection architecture for multiple mobile robots. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 12. 2006
Pham, D. T. ; Awadalla, M. H. ; Eldukhri, E. E. / Adaptive knowledge-based action selection architecture for multiple mobile robots. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 12 PART 1. ed. 2006.
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