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* Corresponding author 1 CRP Henri Tudor - Centre de Recherche Public Henri Tudor Headquarters 2 LASMEA - Laboratoire des sciences et matériaux pour l-électronique et d-automatique

Abstract : This paper is about a Multi-Agent based solution to control and coordinate team-working mobile robots moving in unstructured environments. Two main contributions are considered in our approach. The rst contribution of this paper is about the Multi-Agents System to Control and Coordinate teAmworking Robots MAS2CAR architecture, a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers three main layers: i the Physical Layer ii the Control Layer and iii the Coordination Layer. The second contribution of this paper is about the multi-agent system MAS organisational models aiming to solve the key cooperation issues in the coordination layer, the software components designed based on Utopia a MAS framework which automatically build software agents, thanks to a multi-agent based organisational model called MoiseInst . We provide simulation results that exhibit robotics cooperative behavior related to our scenario, such as multi-robots navigation in presence of obstacles including trajectory planning, and reactive aspects via a hybrid control.





Autor: Mehdi Mouad - Lounis Adouane - Pierre Schmitt - Djamel Khadraoui - Philippe Martinet -

Fuente: https://hal.archives-ouvertes.fr/



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