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An Agent-Oriented Software Architecture for Teams of Robots.

An Agent-Oriented Software Architecture for Teams of Robots. RESCUE PROJECT João Frazão. Context. A team of heterogeneous robots Rescue and Search Outdoor environments Multidisciplinary project that joins the following research groups: Intelligent Systems Lab Mobile Robotics Lab VisLab.

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An Agent-Oriented Software Architecture for Teams of Robots.

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  1. An Agent-Oriented Software Architecture for Teams of Robots. RESCUE PROJECT João Frazão João Frazão

  2. Context • A team of heterogeneous robots • Rescue and Search • Outdoor environments • Multidisciplinary project that joins the following research groups: • Intelligent Systems Lab • Mobile Robotics Lab • VisLab João Frazão

  3. Agent Hierarchy João Frazão

  4. Architecture Elements • Agents • Live objects • Memory • Hierarchy • Blackboard • Standard Communication • Ports • Well defined functions João Frazão

  5. Agent Types The supported agents are: • Concurrent Agent • Planning Agent • Agent guided by a state machine • Agent guided by table • Control loop • Team Agent • Robot Agent • Cooperative Agent • Custom Agents • Sensor Agent • Actuator Agent • Sensor Fusion Agents João Frazão

  6. Example A robot with 3 agents: • Mapping • Position • Navigation Blackboard João Frazão

  7. Example • Navigation - Further decomposing: • Wander • Path Follow • Blimp Follow • How to assemble? Composition • FSM • Planning • Custom João Frazão

  8. Execution Modes • Control • Design • Calibration • Supervisory Control and monitoring • Data logging and Debug João Frazão

  9. System João Frazão

  10. Conclusions • Distributed system for heterogeneous robots: • Easier to manage the team • Easier to handle the robots • Easier to test • Real time performance – parallel processing, event driven, performance libraries • Easier to develop - Agent-Oriented João Frazão

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