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Multi-agent software architecture for autonomous robots: a practical approach

Skrzypczyński P.

Management and Production Engineering Review

2010

Vol. 1, No. 4

55-66

This paper analyses the issues of designing software for an autonomous robot, which is perceived as a real-time, multi-stage data processing system. We focus on a functional analysis of the data-driven world-modelling and motion planning tasks performed by the robot, and then we develop a multi-agent software architecture, which guarantees flexible use of sensors and world representations. We demonstrate use of this architecture on two practical examples: an autonomous indoor mobile robot, which can be applied for janitorial services or as an AGV in flexible manufacturing, and on a walking robot, which is intended for reconnaissance and search missions, e.g. in hostile or polluted industrial environments.