Adaptive knowledge-based action selection architecture for multiple mobile robots

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

Adaptive knowledge-based action selection architecture for multiple mobile robots

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

^*Corresponding author for this work

Electrical and Computer Engineering

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	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/Territory	France
City	Saint - Etienne
Period	5/17/06 → 5/19/06

Keywords

Behaviour coordination
Collective behaviour
Fuzzy logic technique
Multiple mobile robots

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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.

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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.

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Adaptive knowledge-based action selection architecture for multiple mobile robots

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Keywords

ASJC Scopus subject areas

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