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

3. João Frazão Agent Hierarchy

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

5. 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

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

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

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

9. João Frazão System

10. 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