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International Workshop on Engineering Multi-Agent Systems

EMAS 2021: Engineering Multi-Agent Systems pp 137–155Cite as

BDI for Autonomous Mobile Robot Navigation

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13190))

Abstract

We explored how mobile Belief-Desire-Intention (BDI) agents could navigate using path plans that are automatically generated in AgentSpeak, asking if there could be any performance advantages gained by having an agent’s path be automatically generated as a BDI plan that can be monitored, suspended and resumed in case of contingencies. To do the exploration, we used Jason BDI to design a framework to test this premise with simulated mobile robots. We further explored the navigation of mobile agents to see if such functionality should be implemented within the agent in either AgentSpeak or as an internal action, or externally in an environmental module. These agents navigated through three environments of varying complexity: a simple synchronized grid, an asynchronous grid connected via Robot Operating System (ROS), and an autonomous car simulated with AirSim connected using ROS. We demonstrated that our framework handles plan interruptions, such as preventing collisions, managing consumable resources, and updating a map when necessary while moving through an environment; that Jason BDI agents are capable of controlling autonomous mobile robots; and that the AgentSpeak language provides advantages for implementing the navigation search behaviours.

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Notes

  1. 1.

    SAVI ROS BDI is available at https://github.com/NMAI-lab/savi_ros_bdi.

  2. 2.

    Synchronized grid: https://github.com/NMAI-lab/jasonMobileAgent.

    Asynchronized grid: https://github.com/NMAI-lab/jason_mobile_agent_ros.

    AirSim car: https://github.com/NMAI-lab/AirSimNavigatingCar.

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Acknowledgement

We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC), [funding reference number 518212].

Cette recherche a été financée par le Conseil de recherches en sciences naturelles et en génie du Canada (CRSNG), [numéro de référence 518212].

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Authors and Affiliations

  1. Carleton University, Ottawa, Canada

    Patrick Gavigan & Babak Esfandiari

Authors
  1. Patrick Gavigan
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  2. Babak Esfandiari
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Corresponding authors

Correspondence to Patrick Gavigan or Babak Esfandiari .

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Editors and Affiliations

  1. Utrecht University, Utrecht, The Netherlands

    Natasha Alechina

  2. University of Turin, Turin, Italy

    Matteo Baldoni

  3. Utrecht University, Utrecht, The Netherlands

    Brian Logan

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Gavigan, P., Esfandiari, B. (2022). BDI for Autonomous Mobile Robot Navigation. In: Alechina, N., Baldoni, M., Logan, B. (eds) Engineering Multi-Agent Systems. EMAS 2021. Lecture Notes in Computer Science(), vol 13190. Springer, Cham. https://doi.org/10.1007/978-3-030-97457-2_8

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  • DOI: https://doi.org/10.1007/978-3-030-97457-2_8

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