Paper Title :An Approach For Multi-Robot System Based on Agent Layered Architecture
Author :Dhouha Ben Noureddine, Atef Gharbi, Samir Ben Ahmed
Article Citation :Dhouha Ben Noureddine ,Atef Gharbi ,Samir Ben Ahmed ,
(2016 ) " An Approach For Multi-Robot System Based on Agent Layered Architecture " ,
International Journal of Management and Applied Science (IJMAS) ,
pp. 135-143,
Volume-2,Issue-12, Special Issue-1
Abstract : Many agent-based architectures have been developed to facilitate the improvement of multi-robot systems which
are able of performing robust cooperative work. This paper presents a layered architecture to simulate a robot-like agent.
Different layers are defined for the software architecture with focusing on openness, flexibility, robustness and optimization
properties. The proposed architecture aims to provide a well-structured and managed system for task execution, behaviour
and decision-making of multi-robot system (MRS). Based on these ideas, we present a three-tiered agent architecture to
harness many aspects of intelligence. Agents continuously observe the environment, in the reactive layer and act
accordingly. The sequencing layer provides the means for planning, and task execution. We propose a fuzzy membership
function, in the deliberate layer, to choose the appropriate plan during action selection using the satisfaction degree. This
method is undertaken to illustrate, evaluate and find the most satisfactory plan alternative during the decision-making
mechanism. We illustrate our line of thoughts with a Benchmark Production System used as a running example to explain
our contribution.
Keywords- Agent-based architecture, Reactive layer, Sequencing layer, Deliberate layer, Satisfaction degree, Multi-robot
system.
Type : Research paper
Published : Volume-2,Issue-12, Special Issue-1
DOIONLINE NO - IJMAS-IRAJ-DOIONLINE-6615
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Copyright: © Institute of Research and Journals
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Published on 2017-01-30 |
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