Abstract
In this paper is presented an architecture for a flexible mini robot for a multiagent robotic system. In a multiagent system the value of an individual agent is negligible since the goal of the system is essential. Thus, the agents (robots) need to be small, low cost and cooperative. RoboSmith are designed based on these conditions. The proposed architecture divide a robot into functional modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining these functional modules for a specific application. An embedded software with dynamic task uploading and multi-tasking abilities is developed in order to create better interface between robots and the command center and among the robots. The dynamic task uploading allows the robots change their behaviors in runtime. The flexibility of the robots is given by facts that the robots can work in multiagent system, as master-slave, or hybrid mode, can be equipped with different modules and possibly be used in other applications such as mobile sensor networks remote sensing, and plant monitoring.
Highlights
The main goal of this work is to develop a flexible mini robot that to be used in implementation of a multiagent robotic system, and to present the software architecture
The RoboSmith architecture is based on a multiagent robotic system which coordinates the entire community of agents
The exploitation of the multiagent technology applied in flexible mini robotic system has been presented
Summary
The main goal of this work is to develop a flexible mini robot that to be used in implementation of a multiagent robotic system, and to present the software architecture. The nature of the multiagent systems (even if applied in robotics) brings some limitations and conditions to the design of a reliable platform [1, 5, 11, 13, 14]. When the size of a DC motor or of a gear gets smaller, their power and their durability are reduced significantly The robot autonomy requires good communication and sensing skills These skills can be achieved using multiagent technology, which uses agentified components. The cooperation between agents let them accomplish a complex mission with their rather limited skills This type of behavior brings the communication component to the picture because the robots can cooperate with each other only with effective communication between them.
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