Multi-Agent Approach for Controlling Robots Marching in a File - A Simulation

Yasushi Kambayashi, Ryosuke Shibuya, Munehiro Takimoto

2015

Abstract

It is a fundamental concern for multi-robot system research community how to explore unknown environments. This paper presents an approach for controlling cooperative multiple robots exploration in an unknown environment. The approach we are proposing aims to minimizing the overall exploration cost for multiple robots that march in procession. In order to achieve the goal, the file of multiple robots must be able to effectively come out of dead-ends while exploring a maze-like environment. The proposed approach employs multiple mobile software agents that can migrate from a robot to another robot freely to bring certain role and ability to a robot. In particular, the mobile software agent brings the role of leader to an arbitrary robot in a file, so that the migrated robot becomes the leader of a subgroup of the robots that can march in a file into a part of environment. In order to demonstrate the effectiveness of our approach, we have built a simulator, and partially constructed a real multi-robot system.

Paper Citation

in Harvard Style

Kambayashi Y., Shibuya R. and Takimoto M. (2015). Multi-Agent Approach for Controlling Robots Marching in a File - A Simulation . In Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-073-4, pages 222-229. DOI: 10.5220/0005279002220229

in Bibtex Style

@conference{icaart15,
author={Yasushi Kambayashi and Ryosuke Shibuya and Munehiro Takimoto},
title={Multi-Agent Approach for Controlling Robots Marching in a File - A Simulation},
booktitle={Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2015},
pages={222-229},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005279002220229},
isbn={978-989-758-073-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Multi-Agent Approach for Controlling Robots Marching in a File - A Simulation
SN - 978-989-758-073-4
AU - Kambayashi Y.
AU - Shibuya R.
AU - Takimoto M.
PY - 2015
SP - 222
EP - 229
DO - 10.5220/0005279002220229