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

Autor(es)

Botelho, Wagner Tanaka ^[1] ; Bruno Marietto, Maria Das Gracas ^[1] ; Mendes, Eduardo De Lima ^[1] ; De Sousa, Daniel Rodrigues ^[2] ; Pimentel, Edson Pinheiro ^[1] ; Da Silva, Vera Lucia ^[3] ; Dos Santos, Tamires ^[1]

Afiliação do(s) autor(es)

^[1] Fed Univ ABC, Ctr Math Computat & Cognit, Ave Estados 5001, BR-09210580 Santo Andre, SP - Brazil

^[2] Fac Technol FATEC Itaquera, Sao Paulo - Brazil

^[3] Fed Inst Educ Sci & Technol Sao Paulo, Sao Paulo - Brazil

• Tipo de documento: Artigo de Revisão
• Fonte: KNOWLEDGE ENGINEERING REVIEW; v. 35, 2020.
• Citações Web of Science: 0

Resumo

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. (AU)

• Processo FAPESP: 13/17929-2 - Estudo de simulações de robôs móveis bio-inspirados e sistemas Multi-Robóticos no desenvolvimento de modelos em CAD-3D
• Beneficiário: Eduardo de Lima Mendes
• Modalidade de apoio: Bolsas no Brasil - Iniciação Científica
• Processo FAPESP: 15/02301-3 - TB-Horse: construção do protótipo de um robô quadrúpede Bio-Inspirado para locomoção em terrenos irregulares
• Beneficiário: Wagner Tanaka Botelho
• Modalidade de apoio: Auxílio à Pesquisa - Regular