Design and modeling of the multi-agent robotic system: SMART

被引：13

作者：

Garcia, Cecilia ^{[1
]}

Cardenas, Pedro F. ^{[1
]}

Puglisi, Lisdandro J. ^{[1
]}

Saltaren, Roque ^{[1
]}

机构：

[1] Ctr Automat & Robot UPM CSIC, Madrid 28006, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2012年 / 60卷 / 02期

关键词：

Communication architecture; Multi-agent robotic systems; Cooperative robots; Concurrent system;

D O I：

10.1016/j.robot.2011.09.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents the design, kinematic model and communication architecture for the multi-agent robotic system called SMART. The philosophy behind this kind of system requires the communication architecture to contemplate the concurrence of the whole system. The proposed architecture combines different communication technologies (TCP/IP and Bluetooth) under one protocol designed for the cooperation among agents and other elements of the system such as IP-Cameras, image processing library, path planner, user Interface, control block and data block. The high level control is modeled by Work-Flow Petri nets and implemented in C++ and C#. Experimental results show the performance of the designed architecture. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：143 / 153

页数：11

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