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An Agent-Oriented Software Architecture for Teams of Robots.

Explore a novel software architecture for diverse robot teams in rescue missions within outdoor settings. This architecture integrates various agents with refined communication protocols, enhancing system efficiency and performance. Discover the agent hierarchy, types, elements, execution modes, and blackboard model for a seamless collaborative environment. Witness the possibilities of distributed systems for heterogeneous robots, simplifying management, testing, and development.

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An Agent-Oriented Software Architecture for Teams of Robots.

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  1. An Agent-Oriented Software Architecture for Teams of Robots. RESCUE PROJECT João Frazão João Frazão

  2. Context • A team of heterogeneous robots • Rescue and Search • Outdoor environments • Multidisciplinary project that joins the following research groups: • Intelligent Systems Lab • Mobile Robotics Lab • VisLab João Frazão

  3. Agent Hierarchy João Frazão

  4. Architecture Elements • Agents • Live objects • Memory • Hierarchy • Blackboard • Standard Communication • Ports • Well defined functions João Frazão

  5. Agent Types The supported agents are: • Concurrent Agent • Planning Agent • Agent guided by a state machine • Agent guided by table • Control loop • Team Agent • Robot Agent • Cooperative Agent • Custom Agents • Sensor Agent • Actuator Agent • Sensor Fusion Agents João Frazão

  6. Example A robot with 3 agents: • Mapping • Position • Navigation Blackboard João Frazão

  7. Example • Navigation - Further decomposing: • Wander • Path Follow • Blimp Follow • How to assemble? Composition • FSM • Planning • Custom João Frazão

  8. Execution Modes • Control • Design • Calibration • Supervisory Control and monitoring • Data logging and Debug João Frazão

  9. System João Frazão

  10. Conclusions • Distributed system for heterogeneous robots: • Easier to manage the team • Easier to handle the robots • Easier to test • Real time performance – parallel processing, event driven, performance libraries • Easier to develop - Agent-Oriented João Frazão

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