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Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system

Multi-agent system is one of the most popular research interests in robotics nowadays. How would collections of simple robots aid us in human endeavours? Let us think about an ant colony. Ants have little capability, but when many of them are working together, they can do incredible tasks. By examin...

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Main Authors:	Ahmad, M. R., Amin, Shamsudin H. M., Mamat, Rosbi
Format:	Conference or Workshop Item
Language:	English
Published:	2002
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/7606/1/Mamat_Rosbi_2002_Development_Decentralized_Based_Reactive_Control.pdf http://eprints.utm.my/id/eprint/7606/
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id	my.utm.7606
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spelling	my.utm.76062011-05-11T05:41:23Z http://eprints.utm.my/id/eprint/7606/ Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system Ahmad, M. R. Amin, Shamsudin H. M. Mamat, Rosbi TK Electrical engineering. Electronics Nuclear engineering Multi-agent system is one of the most popular research interests in robotics nowadays. How would collections of simple robots aid us in human endeavours? Let us think about an ant colony. Ants have little capability, but when many of them are working together, they can do incredible tasks. By examining the major control architectures available in robotics area, decentralized-based reactive control architecture gives the tools as required. Priority-based scheme is used in arbitration level to select which behaviour to run. It does not need to gather all information from various sensors to plan its action like deliberative control which is also known as sensors fusion that clearly required a lot of computational time. Besides that, the mapping that the deliberative control architecture produces might not be valid at the time when changes occur between the time it gathers the information and the time it plans its actions. Instead, intelligence will arise when these simple agents work together to perform some complex task cooperatively. Our multi-agent system consists of three mobile robots that are required to transfer a large object through a restricted area. We are using a leader - follower strategy to accomplish this task. Intelligence in multi-agent system in our context is that any agents have a possibility to be a leader or a follower depending on current situation of the environment. This means that all agents are homogeneously equal in hardware and software. By having this capability, it will ensure the burden of the programming task will be decreased because there will be only one program needed for the whole system. In this paper, decentralized reactive control architecture is used to develop an intelligent multi-agent cooperative strategy to perform complex task like carrying load and navigation. 2002 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/7606/1/Mamat_Rosbi_2002_Development_Decentralized_Based_Reactive_Control.pdf Ahmad, M. R. and Amin, Shamsudin H. M. and Mamat, Rosbi (2002) Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system. In: Proceeding of the 7th International Conference on Control, Automation ,Robotic and Vision,ICARCV 2002, 2-5 Dec.2002, Singapore.
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Ahmad, M. R. Amin, Shamsudin H. M. Mamat, Rosbi Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
description	Multi-agent system is one of the most popular research interests in robotics nowadays. How would collections of simple robots aid us in human endeavours? Let us think about an ant colony. Ants have little capability, but when many of them are working together, they can do incredible tasks. By examining the major control architectures available in robotics area, decentralized-based reactive control architecture gives the tools as required. Priority-based scheme is used in arbitration level to select which behaviour to run. It does not need to gather all information from various sensors to plan its action like deliberative control which is also known as sensors fusion that clearly required a lot of computational time. Besides that, the mapping that the deliberative control architecture produces might not be valid at the time when changes occur between the time it gathers the information and the time it plans its actions. Instead, intelligence will arise when these simple agents work together to perform some complex task cooperatively. Our multi-agent system consists of three mobile robots that are required to transfer a large object through a restricted area. We are using a leader - follower strategy to accomplish this task. Intelligence in multi-agent system in our context is that any agents have a possibility to be a leader or a follower depending on current situation of the environment. This means that all agents are homogeneously equal in hardware and software. By having this capability, it will ensure the burden of the programming task will be decreased because there will be only one program needed for the whole system. In this paper, decentralized reactive control architecture is used to develop an intelligent multi-agent cooperative strategy to perform complex task like carrying load and navigation.
format	Conference or Workshop Item
author	Ahmad, M. R. Amin, Shamsudin H. M. Mamat, Rosbi
author_facet	Ahmad, M. R. Amin, Shamsudin H. M. Mamat, Rosbi
author_sort	Ahmad, M. R.
title	Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
title_short	Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
title_full	Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
title_fullStr	Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
title_full_unstemmed	Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
title_sort	development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system
publishDate	2002
url	http://eprints.utm.my/id/eprint/7606/1/Mamat_Rosbi_2002_Development_Decentralized_Based_Reactive_Control.pdf http://eprints.utm.my/id/eprint/7606/
_version_	1643644809096724480
score	13.211869

Development of decentralized based reactive control strategy for intelligent multi-agent mobile robotics system

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