Abstract
This paper presents a robotic control architecture and descriptions based on interactions between multiple software modules called agents. When we apply this agent architecture, having modularity and flexibility, to a distributed robotic system, its sufficient definition and description methods are required because each agent communicates with the others by using its own functions directly or indirectly, recognizing or referring to its own slate and those of the others. We first assigned classes to the basic agent architecture of the multiagent system. This system was constructed with object-oriented programming, which consists of data (an internal state, external information and a behavior strategy) and methods. We then defined a finite state machine (FSM) as the model that the agent refers to in taking actions corresponding to its state transition. We applied this description and the model to controlling a robotic manipulator with multiple joints. The FSM model of the agent reflects both its internal state and its joint movements, i.e., forward, backward and stop. To perform a system evaluation of this approach, we have been creating an agent development environment and describing agents that will carry out an approaching task.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Hiramatsu, K., A. Mori, F. Naya and N. Osato (1997). Visualization of mulliagent robot control system with web browsers. In: Proceedings of the 55th Annual Conference of IPSJ. Vol. 3. pp. 432–433 (in Japanese).
Mori, A., F. Naya, N. Osato and T. Kawaoka (1996). Mulliagent-based distributed manipulator control. In: Proceedings of the 2nd MFI’96. Washington D.C., U.S.A.
Osato, N. (1993). An action interpreter of a robot control agent. In: Proceedings of IROS’93. pp. 1126–1133.
Tsuda, M. and T. Takahashi (1995). A method for changing contact states for robotic assembly by using some local models in a multi-agent system. In: Proceedings of ICPA ‘95. Nagoya, JAPAN, pp. 2713–2719.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Mori, A., Hiramatsu, K., Naya, F., Osato, N. (1998). A Robot-Controlling Agent Description with Finite State Machines. In: Distributed Autonomous Robotic Systems 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-72198-4_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-72198-4_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-72200-4
Online ISBN: 978-3-642-72198-4
eBook Packages: Springer Book Archive