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Abstrakty
In the paper, the architecture of a mobile robot cooperating with other robots and some stationary devices in a task of collective perception and world modeling is considered. We present data-driven processing of information performed by an individual robot treated as an agent and we propose to organize it as a set of experts (also treated as agents) exchanging data by means of a blackboard. The roles of particular agents and the structure of the blackboard are described. We analyze the control aspects of the system and the form of control knowledge.
Czasopismo
Rocznik
Tom
Strony
851--866
Opis fizyczny
Bibliogr. 18 poz., rys., wykr.
Twórcy
autor
- Institute of Control and Information Engineering, Technical University of Poznań, Plac M. Skłododowskiej-Curie 5, 60-965 Poznań, Poland
autor
- Institute of Control and Information Engineering, Technical University of Poznań, Plac M. Skłododowskiej-Curie 5, 60-965 Poznań, Poland
autor
- Institute of Control and Information Engineering, Technical University of Poznań, Plac M. Skłododowskiej-Curie 5, 60-965 Poznań, Poland
autor
- Institute of Control and Information Engineering, Technical University of Poznań, Plac M. Skłododowskiej-Curie 5, 60-965 Poznań, Poland
Bibliografia
- Arkin, R. (1998) Behavior-Based Robotics. The MIT Press, Cambridge.
- Bigus, J.P. and Bigus, J. (1998) Constructing Intelligent Agents with Java. A Programmer’s Guide to Smarter Applications. John Wiley & Sons.
- Borenstein, J. and Koren, Y. (1991) Histogramic In-Motion Mapping for Mobile Robot Obstacle Avoidance. IEEE Journal of Robotics and Automation 7 (4), 535-539.
- Brzykcy, G. (2000) Koncepcja wieloagentowego systemu percepcji i modelowania otoczenia (A concept for multi-agent system of perception and modelling of the environment; in Polish). In: Bubnicki Z. and Grzech A., eds., Inżynieria wiedzy i systemy ekspertowe. Oficyna Wydawnicza Politechniki Wroclawskiej, Wroclaw, 2, 111-118.
- Brzykcy G., Martinek J., Meissner A. and Skrzypczynski P. (2001a) Blackboard Agent Architecture for Perception and World Modeling. Automation 2001, Warszawa, 212-219.
- Brzykcy G., Martinek J., Meissner A. and Skrzypczy ́nski P. (2001b) Multi-Agent Blackboard Architecture for a Mobile Robot. Proc. IEEE/RSJ Conf. on Intelligent Robots and Systems (IROS), Maui, 2369-2374
- Brzykcy, G., Martinek, J., Meissner, A. and Skrzypczynski, P. (2001c) System wnioskowania robota o scenie z prostymi obiektami geometrycznymi (A system of reasoning of a robot on a scene with simple geometric objects; in Polish). III Konferencja ”Metody i systemy komputerowe w badaniach naukowych i projektowaniu in ̇zynierskim”, Kraków, 193-198.
- Dudek, G. and Jenkin, M. (2000) Computational Principles of Mobile Robotics. Cambridge Univ. Press.
- Engelmore, R. and Morgan, T. (eds.) (1988) Blackboard Systems. Addison-Wesley.
- Hayes-Roth, B. (1985) A Blackboard Model for Control. Artificial Intelligence 26, 251-322.
- Hunhns, M. and Singh, M. (eds.) (1998) Readings in Agents. Morgan Kaufmann Publishers.
- Kappey, D., Pokrandt, P. and Schloen, J. (1994) A distributed multisensor blackboard system for autonomous robot. SPIE Conference Sensor FusionVII, Boston.
- Kasinski, A. and Baczyk, R. (2001) Robust Landmark Recognition with Application to Navigation. Proc. Conf. Computer Recognition Systems (KOSYR), Wroclaw, 401-407.
- Kasinski, A. and Skrzypczy ́nski, P. (1998) Cooperative Perception and World-Model Maintenance in Mobil Navigation Tasks. In: Lueth T. et al., eds., Distributed Autonomous Robotic Systems 3. Springer, Berlin, 173-182.
- Kasinski, A. and Skrzypczynski, P. (2002) Communication Mechanism in a Distributed System of Mobile Robots. In: Asama H. et al., eds., Distributed Autonomous Robotic Systems 5. Springer-Verlag, Tokyo, 51-60.
- Muller, J. (1995) The Design of Intelligent Agents: a Layered Approach. Lecture Notes in Artificial Intelligence, 1177, Springer.
- Schwartz, D. (1995) Cooperating heterogeneous systems. Kluwer Academic Publishers.
- Skrzypczynski, P. and Drapikowski, P. (1999) Environment Modelling for a Multi-Agent Mobile System. Proc. EUROBOT’99, Zurich, 41-48.
Typ dokumentu
Bibliografia
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