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Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study

Part of: Ontologies and Standards for Intelligent Systems

Published online by Cambridge University Press:  13 August 2020

Wagner Tanaka Botelho Open the ORCID record for Wagner Tanaka Botelho [Opens in a new window] ,
Maria Das Graças Bruno Marietto ,
Eduardo De Lima Mendes ,
Daniel Rodrigues De Sousa ,
Edson Pinheiro Pimentel ,
Vera Lúcia da Silva  and
Tamires dos Santos
Wagner Tanaka Botelho
Affiliation:
Federal University of ABC, Centre of Mathematics, Computation and Cognition, Av. dos Estados, 5001, Bairro Santa Terezinha, CEP 09210-580, Santo André/São Paulo, Brazil, e-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Maria Das Graças Bruno Marietto
Affiliation:
Federal University of ABC, Centre of Mathematics, Computation and Cognition, Av. dos Estados, 5001, Bairro Santa Terezinha, CEP 09210-580, Santo André/São Paulo, Brazil, e-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Eduardo De Lima Mendes
Affiliation:
Federal University of ABC, Centre of Mathematics, Computation and Cognition, Av. dos Estados, 5001, Bairro Santa Terezinha, CEP 09210-580, Santo André/São Paulo, Brazil, e-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Daniel Rodrigues De Sousa
Affiliation:
Faculty of Technology (FATEC-Itaquera), São Paulo, Brazil, e-mail: [email protected]
Edson Pinheiro Pimentel
Affiliation:
Federal University of ABC, Centre of Mathematics, Computation and Cognition, Av. dos Estados, 5001, Bairro Santa Terezinha, CEP 09210-580, Santo André/São Paulo, Brazil, e-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Vera Lúcia da Silva
Affiliation:
Federal Institute of Education, Science and Technology of São Paulo, Brazil, e-mail: [email protected]
Tamires dos Santos
Affiliation:
Federal University of ABC, Centre of Mathematics, Computation and Cognition, Av. dos Estados, 5001, Bairro Santa Terezinha, CEP 09210-580, Santo André/São Paulo, Brazil, e-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
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Abstract

Multi-Robot System (MRS) is composed of a group of robots that work cooperatively. However, Multi-Agent System (MAS) is computational systems consisting of a group of agents that interact with each other to solve a problem. The central difference between MRS and MAS is that in the first case, the agent is a robot, and in the second, it is a software. Analyzing the scientific literature, it is possible to notice that few studies address the integration between MAS and MRS. In order to achieve the interdisciplinary integration, the theoretical background of these areas must be considered in this paper, so that the integration can be applied using a case study of decentralized MRS. The objective of this MRS is to track and surround a stationary target. Also, it has been implemented and validated in the robot simulator called Virtual Robot Experimentation Platform (V-REP). In the validation of the proposed MRS, a scenario with three robots and a stationary target were defined. In the tracking task, the robot can detect the target whose position is not known a priori. When the detection occurs, the V-REP informs the target position to the robot because the environment is discretized into a grid of rectangular cells. After that, all the robots are directed to the target, and the surround task is realized. In this task, a mathematical model with direct communication between the robots was used to keep the robots equidistant therefrom and from each other.

Type
Review
Information
The Knowledge Engineering Review , Volume 35 , 2020 , e35
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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