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

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 Agent Hierarchy

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

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

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

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

João Frazão System

João Frazão 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