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Control aspects of the blackboard agent architecture for a mobile robot

Brzykcy G., Martinek J., Meissner A., Skrzypczyński P.

Control and Cybernetics

2003

Vol. 32, no 4

851-866

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.