Abstract
This paper presents a framework for controlling multiple robots connected by communication networks. Instead of making multiple robots pursue several tasks simultaneously, the framework makes mobile software agents migrate from one robot to another to perform the tasks. Since mobile software agents can migrate to arbitrary robots by wireless communication networks, they can find the most suitably equipped and/or the most suitably located robots to perform their task. In the previous papers, we have shown that this manner of controlling multiple robots can decrease the number of required robot resources in the three-robot case. The three robots demonstrated that they could suppress the energy consumption through a mobile agent based approach. In this paper, we pursue a case of large scale multiple robots. We have implemented a simulator for a large number of robots based on our framework, and have demonstrated the efficiency and the scalability. We report the observations we found in the numerical experiments.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Hulaas, G., Binder, A.V.W.J.: Portable resource control in the j-seal2 mobile agent system. In: Proceedings of International Conference on Autonomous Agents, pp. 222–223 (2001)
Kambayashi, Y., Takimoto, M.: Higher-order mobile agents for controlling intelligent robots. International Journal of Intelligent Information Technologies 1(2), 28–42 (2005)
Takimoto, M., Mizuno, M., Kurio, M., Kambayashi, Y.: Saving energy consumption of multi-robots using higher-order mobile agents. In: Nguyen, N.T., Grzech, A., Howlett, R.J., Jain, L.C. (eds.) KES-AMSTA 2007. LNCS (LNAI), vol. 4496, pp. 549–558. Springer, Heidelberg (2007)
Nagata, T., Takimoto, M., Kambayashi, Y.: Suppressing the total costs of executing tasks using mobile agents. In: Proceedings of the 42nd Hawaii International Conference on System Sciences, IEEE Computer Society CD-ROM, Los Alamitos (2009)
Pomerleau, D.A.: Defense and civilian applications of the alvinn robot driving system. In: Proceedings of 1994 Government Microcircuit Applications Conference, pp. 358–362 (1994)
Pomerleau, D.A.: Alvinn: An autonomous land vehicle in a neural network. In: Advances in Neural Information Processing System, vol. 1, pp. 305–313. Morgan Kaufmann, San Francisco (1989)
Murphy, R.R.: Introduction to AI robotics. MIT Press, Cambridge (2000)
Parker, L.E.: Aliance: An architecture for fault tolerant multirobot cooperation. IEEE Transaction on Robotics and Automation 14(2), 220–240 (1998)
Satoh, I.: A mobile agent-based framework for active networks. In: Proceedings of IEEE System, Man and Cybernetics Conference, pp. 71–76 (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Abe, T., Takimoto, M., Kambayashi, Y. (2011). Searching Targets Using Mobile Agents in a Large Scale Multi-robot Environment. In: O’Shea, J., Nguyen, N.T., Crockett, K., Howlett, R.J., Jain, L.C. (eds) Agent and Multi-Agent Systems: Technologies and Applications. KES-AMSTA 2011. Lecture Notes in Computer Science(), vol 6682. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22000-5_23
Download citation
DOI: https://doi.org/10.1007/978-3-642-22000-5_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21999-3
Online ISBN: 978-3-642-22000-5
eBook Packages: Computer ScienceComputer Science (R0)