Software Agent Systems for Improving Performance of Multi-Robot Groups

Authors:
Wojciech Turek;Krzysztof Cetnarowicz;Wojciech Zaborowski
Affiliations:
(Correspd.) AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Computer Science, Krakow, Poland. wojciech.ture ...;AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Computer Science, Krakow, Poland. wojciech.turek@agh.edu.pl ...;AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Computer Science, Krakow, Poland. wojciech.turek@agh.edu.pl ...
Venue:
Fundamenta Informaticae - Concurrency Specification and Programming (CS&P)
Year:
2011

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Abstract

Agent paradigm is becoming more and more popular in design of complex multi-robot systems. Similarities between features attributed to robots and agents lead to defining an agent as a single robot control program or even calling a robot an “embodied agents”. This approach can cause serious issues concerning scalability, extensibility and performance of large-scale multi-robot systems. In this paper a different approach to design and implementation of software systems managing mobile robots is presented. It is based on the logical separation of a hardware robot and a software agent. The paper focuses on improvements in system performance achieved by using the approach. Three exemplary applications are described and experimental results are provided.