Team/Goal-Keeper Coordination in the RoboCup Mid-Size League
RoboCup 2000: Robot Soccer World Cup IV
Programming Real Time Distributed Multiple Robotic Systems
RoboCup-99: Robot Soccer World Cup III
HEIR - A Non Hierarchical Hybrid Architecture for Intelligent Robots
ATAL '98 Proceedings of the 5th International Workshop on Intelligent Agents V, Agent Theories, Architectures, and Languages
Distributed Coordination in Heterogeneous Multi-Robot Systems
Autonomous Robots
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In this paper we propose a novel protocol toexchange information within a distributed multi-layerarchitecture for adaptive intelligent robotic systems.Initially the architecture and its dedicated operatingsystem ETHNOS (Expert Tribe in a Hybrid NetworkOperating System) are presented. They are both based onExperts: symbolic, sub-symbolic and proceduralprocesses that operate concurrently to accomplishdifferent tasks. The OS allows the experts to be distributedover a network to take advantage, depending on the tasksto be carried out, of the particular computational powerof a machine. It is the system that transparently handlescommunication between experts, regardless of where theyare in execution using the integrated EIEP (ExpertInformation Exchange Protocol). This paper focuses onthe description of the EIEP, its implementation and usage.Finally experimental results and applications in mobilerobotics are illustrated.