Adaptive knowledge-based action selection architecture for multiple mobile robots

Pham, Duc Truong, Awadalla, M. H. and Eldukhri, Eldaw Elzaki 2006. Adaptive knowledge-based action selection architecture for multiple mobile robots. Presented at: 12th IFAC Symposium on Information Control Problems in Manufacturing, 2006, Saint Etienne, France, 17-19 May 2006. Published in: Morel, Gerard, Dolgui, Alexandre and Pereira, Carlos eds. Proceedings of 12th IFAC Symposium on Information Control Problems in Manufacturing, 2006, Saint Etienne, France, 17-19 May 2006. , vol.12 (1) International Federation of Automatic Control, p. 119. 10.3182/20060517-3-FR-2903.00075

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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 co-operative 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.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Schools > Engineering
Subjects:	T Technology > TJ Mechanical engineering and machinery
Uncontrolled Keywords:	multiple mobile robots; collective behaviour; behaviour coordination; fuzzy logic technique
Publisher:	International Federation of Automatic Control
ISBN:	9783902661043
Last Modified:	10 Oct 2017 14:43
URI:	https://orca.cardiff.ac.uk/id/eprint/37637

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