Desarrollo de una Interfaz de Usuario para el Sistema Robótico Multiagente SMART

Cecilia García Cena; Roque Saltarén; Javier López Blázquez; Rafael Aracil

doi:10.1016/S1697-7912(10)70056-X

Autores/as

Cecilia García Cena Universidad Politécnica de Madrid
Roque Saltarén Universidad Politécnica de Madrid
Javier López Blázquez Universidad Politécnica de Madrid
Rafael Aracil Universidad Politécnica de Madrid

DOI:

https://doi.org/10.1016/S1697-7912(10)70056-X

Palabras clave:

robots, agentes, inteligencia artificial distribuida, realidad virtual, cooperación

Resumen

En este artículo se presenta al sistema robótico multi-agente SMART. Este sistema está compuesto por varios tipos de agentes software y/o hardware, por lo que puede clasificárselo como heterogéneo. Además, se presenta el desarrollo de una interfaz de realidad virtual a través de la cual el usuario puede intervenir en el sistema si lo considera necesario, en otro caso el sistema opera autónomamente. Así mismo, esta interfaz implementa un gran número de funcionalidades tendientes a lograr el buen desempeño del sistema, una correcta gestión de los recursos robóticos disponibles en el entorno y provee al usuario información en tiempo real de todo lo que sucede en la realidad. Como consecuencia de la heterogeneidad del sistema, la comunicación entre los diferentes agentes se realiza utilizando diversas tecnologías de comunicación (TCP/IP, WiFi y Bluetooth); por lo tanto, se ha diseñado un protocolo de comunicaciones específico para este sistema.

Descargas

Los datos de descargas todavía no están disponibles.

Citas

Collinot A. Drogoul A. y Benhamou P. (1996). Agent Oriented Design of a Soccer Robot Team. Proceeding of International Conference on Multi Agents Systems.

Corkill, D. y Lander, S. E. (2008). Modelling, Analysis and Execution of Multi-Robot Tasks using Petri Nets Agent Organizations. Object Magazine, Vol. 8, Nº 4, pp 41–47.

De Clerq S. Development of Communication Architecture for Multi-Agent Robotic Systems based on Petri-Net (2009). Tesis de Maestría. Universidad Politécnica de Madrid.

Deloach S., Matson E., Li Y.; (2002) Applying Agent Oriented Software Engineering to Cooperative Robotics. Proceedings of the Fifteenth International Florida Artificial Intelligence Research Society Conference.

Fiorino H y Tessier C. (1998) Agent Cooperation: a Petri Net Based Model. Procceding of International Conference on Multi Agent Systems. Vol 3 pp. 425-426.

Frankiln D, Kahng A. y Lewis A. (1995) Distributed Sensing and Proving with Multiple Search Agents: Towards System-level landmine Detection Solutions. Proceedings of Detection Technologies for Mines and Minelike Targets, Vol 2496.

Franklin D. y Gresser T. Is it an Agent, or just a Program?: (1996) A Taxonomy for Autonomous Agents. Proceedings of the Third International Workshop on Agent Theories, Architectures, and Languages, Springer-Verlag.

Garcia C, De Clercq S., Saltaren R., Aracil R. Werner Verschelde W. (2010) Development of communication architecture for the multi-agent robotic system SMART. European Conference on the Use of Modern Information and Communication Technologies, pp 105-112

Hiraishi K. (2002). PN2: An Elementary Model for Design and Analysis of Multi-agent Systems. Proc. on Coordination Models and Languages, 5th International. N. Y. pp 220-235.

Hiraishi K. (2008) Performance Evaluation of Workflows Using Continuous Petri Nets with Interval Firing Speeds. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences archive. Vol. E91-A, Nº11. pp 3219- 3228.

Hsieha F. (2009). Developing cooperation mechanism for multiagent systems with Petri nets. Engineering Applications of Artificial Intelligence Vol. 2, Nº 4-5. pp 616-627

Kotb Y.T, Beauchemin S.S. and Barron J.L. (2007). Petri NetBased Cooperation In Multi-Agent Systems. 4th Canadian Conference on Computer and Robot Vision. Vol. 0. pp 123-130.

Lund H. H. Rasmus Lock Larsen, and Esben Hallundbæk Østergaard. (2003) Distributed Control in Self-reconfigurable Robots. ISBN 978-3-540-00730-2. Springer. pp. 296-307.

Lee, Jin-Shyan. (2008) A Petri Net Design of Command Filters for Semiautonomous Mobile Sensor Networks. IEEE Transactions on Industrial Electronics, Vol 55, Nº 4.

Moldt D. and Wienberg F. (1997) Multi-Agent-Systems Based on Coloured Petri Nets. Proc. of the 18th International Conference on Application and Theory of Petri Nets table of contents. Publisher Springer-Verlag, pp 82 – 101.

Montano L., García F., Villaroel J. (2000). Using the Time Petri Net Formalism for Specification, Validation, and Code Generation in Robot-Control Applications, The International Journal of Robotics Research, Vol. 19, Nº 1, pp 59-76.

Palus, H. (1998). Representations of colour images in different colour spaces. In: Sangwine, S., and Horne, R. (eds.): The Colour Image Processing Handbook, Chapman and Hall, pp 67- 90.

Plataniotis, K.N., Venetsanopoulos, A.N. (2000): Color Image Processing and Applications, Springer-Verlag.

Sims M., Corkill D., Lesser V. (2008). Automated organization design for multi-agent system . Auton Agent Multi-Agent System. Vol. 16, pp. 151–185. Springer.

Veloso M. y Nardi D. (2006) Special Issue on Multirobot Systems. Proceedings of the IEEE, Vol. 94, Nº. 7.

Van der Aalst W.M.P. (1996a). Structural Characterizations of Sound Workflow Nets. Computing Science Reports 96/23 Eindhoven University of Technology.

Van der Aalst W.M.P. (1996b). Three Good reasons for Using a Petri-net-based Workflow Management System. In Proc. of the International Working Conference on Information and Process Integration in Enterprises, pp. 179–201.

Van der Aalst W.M.P. (1997). Verification of Workflow Nets. Lecture notes on Application and Theory of Petri Nets. Springer Verlag (1248) 407–426.

Zhiwu Li and Shuwen Xu. (2006). On Modeling a Soccer Robot System Using Petri Nets. Proc. of the IEEE International Conference on Automation Science and Engineering.