A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR
Sébatien Delarue, Philippe Hoppenot, Etienne Colle
2007
Abstract
Assistive robotics especially mobile arm manipulator can be useful for restoring manipulation function of disabled people in everyday life tasks. However, those systems must be designed to be reliable, fault tolerant and easy to control. This article proposes a method based on multiagent system for controlling the robot. This kind of distributed architecture makes possible to be fault-tolerant without specifying additional management of faults what improves reliability. Moreover, it is also possible to add specific constraints, for example human like behaviors in order to facilitate the use of the system by the person. The multiagent method is easier to implement than classical robotics approaches.
DownloadPaper Citation
in Harvard Style
Delarue S., Hoppenot P. and Colle E. (2007). A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-82-5, pages 292-299. DOI: 10.5220/0001625902920299
in Bibtex Style
@conference{icinco07,
author={Sébatien Delarue and Philippe Hoppenot and Etienne Colle},
title={A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2007},
pages={292-299},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001625902920299},
isbn={978-972-8865-82-5},
}
in EndNote Style
TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A MULTI AGENT CONTROLLER FOR A MOBILE ARM MANIPULATOR
SN - 978-972-8865-82-5
AU - Delarue S.
AU - Hoppenot P.
AU - Colle E.
PY - 2007
SP - 292
EP - 299
DO - 10.5220/0001625902920299