Abstract
This paper proposes a control system design for a mobile robot assistant based on a multi-agent architecture. The robotic platform used in this paper is a second generation Assistant Personal Robot (APR-02) with an own design. The control implementation is distributed among different agents in which each one is designed to fulfill a specific functionality such as localization, navigation, task managing, vision, hearing, communications, and environmental supervision. In addition, a set of shared memory instances are implemented to ensure the cohesion among all the agents while working together. The proposed methodology provides robustness and effectiveness by assigning each agent on a single CPU thread.
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Martínez, D., Clotet, E., Moreno, J., Tresanchez, M., Palacín, J. (2016). A Proposal of a Multi-agent System Implementation for the Control of an Assistant Personal Robot. In: de la Prieta, F., et al. Trends in Practical Applications of Scalable Multi-Agent Systems, the PAAMS Collection. PAAMS 2016. Advances in Intelligent Systems and Computing, vol 473. Springer, Cham. https://doi.org/10.1007/978-3-319-40159-1_14
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DOI: https://doi.org/10.1007/978-3-319-40159-1_14
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