A cooperative multi-robot architecture for moving a paralyzed robot
Identifieur interne :
000768 ( PascalFrancis/Curation );
précédent :
000767;
suivant :
000769
A cooperative multi-robot architecture for moving a paralyzed robot
Auteurs : Olivier Simonin [
France] ;
Olivier Grunder [
France]
Source :
-
Mechatronics : (Oxford) [ 0957-4158 ] ; 2009.
RBID : Pascal:09-0408413
Descripteurs français
- Pascal (Inist)
- Robot mobile,
Système multiagent,
Robotique,
Système autonome,
Diffusion donnée,
Système réactif,
Boucle commande,
Intelligence artificielle,
Autocontrôle,
Commande adaptative,
Coopération,
Robot intelligent,
Adaptabilité,
..
- Wicri :
English descriptors
- KwdEn :
- Adaptability,
Adaptive control,
Artificial intelligence,
Autonomous system,
Control loop,
Cooperation,
Data broadcast,
Intelligent robot,
Moving robot,
Multiagent system,
Reactive system,
Robotics,
Self control.
Abstract
In this paper we study the possibility of cooperation between reactive and deliberative based robots, which are generally considered as antinomic approaches. We focus on a case study composed, on the one hand, of an "intelligent" robot that submits failures which prevent it from moving, and on the other hand, of a pool of simple autonomous mobile robots which are able to push. The paralyzed robot can broadcast signals to recruit mobile robots and to be pushed by them. These signals are interpreted as force fields by agents in order to compute their reactive behavior. We present these different robot behaviors and analyse two experiments. We show that the proposed system provides a control loop which is independent of the number of robots pushing on each arm, showing that a combination of multi-agent and deliberative architectures can define intelligent and robust multi-robot systems.
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A08 | 01 | 1 | ENG | @1 A cooperative multi-robot architecture for moving a paralyzed robot |
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A11 | 01 | 1 | | @1 SIMONIN (Olivier) |
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A11 | 02 | 1 | | @1 GRUNDER (Olivier) |
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A14 | 01 | | | @1 LORIA Laboratory, INRIA Maia Project and Université Henri Poincaré, Campus Scientifique-BP 239 @2 54506 Vandoeuvre-lès-Nancy @3 FRA @Z 1 aut. |
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A14 | 02 | | | @1 SeT Laboratory, Universite de Technologie de Belfort-Montbeliard @2 90010 Belfort @3 FRA @Z 2 aut. |
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C01 | 01 | | ENG | @0 In this paper we study the possibility of cooperation between reactive and deliberative based robots, which are generally considered as antinomic approaches. We focus on a case study composed, on the one hand, of an "intelligent" robot that submits failures which prevent it from moving, and on the other hand, of a pool of simple autonomous mobile robots which are able to push. The paralyzed robot can broadcast signals to recruit mobile robots and to be pushed by them. These signals are interpreted as force fields by agents in order to compute their reactive behavior. We present these different robot behaviors and analyse two experiments. We show that the proposed system provides a control loop which is independent of the number of robots pushing on each arm, showing that a combination of multi-agent and deliberative architectures can define intelligent and robust multi-robot systems. |
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C02 | 04 | X | | @0 001D02D04 |
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C03 | 01 | X | FRE | @0 Robot mobile @5 06 |
---|
C03 | 01 | X | ENG | @0 Moving robot @5 06 |
---|
C03 | 01 | X | SPA | @0 Robot móvil @5 06 |
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C03 | 02 | X | FRE | @0 Système multiagent @5 07 |
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C03 | 02 | X | ENG | @0 Multiagent system @5 07 |
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C03 | 02 | X | SPA | @0 Sistema multiagente @5 07 |
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C03 | 03 | X | FRE | @0 Robotique @5 08 |
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C03 | 03 | X | ENG | @0 Robotics @5 08 |
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C03 | 03 | X | SPA | @0 Robótica @5 08 |
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C03 | 04 | X | FRE | @0 Système autonome @5 09 |
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C03 | 04 | X | ENG | @0 Autonomous system @5 09 |
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C03 | 04 | X | SPA | @0 Sistema autónomo @5 09 |
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C03 | 05 | X | FRE | @0 Diffusion donnée @5 10 |
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C03 | 05 | X | ENG | @0 Data broadcast @5 10 |
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C03 | 05 | X | SPA | @0 Difusion dato @5 10 |
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C03 | 06 | X | FRE | @0 Système réactif @5 11 |
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C03 | 06 | X | ENG | @0 Reactive system @5 11 |
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C03 | 06 | X | SPA | @0 Sistema reactivo @5 11 |
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C03 | 07 | X | FRE | @0 Boucle commande @5 12 |
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C03 | 07 | X | ENG | @0 Control loop @5 12 |
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C03 | 07 | X | SPA | @0 Bucle control @5 12 |
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C03 | 08 | X | FRE | @0 Intelligence artificielle @5 13 |
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C03 | 08 | X | ENG | @0 Artificial intelligence @5 13 |
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C03 | 08 | X | SPA | @0 Inteligencia artificial @5 13 |
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C03 | 09 | X | FRE | @0 Autocontrôle @5 14 |
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C03 | 09 | X | ENG | @0 Self control @5 14 |
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C03 | 09 | X | SPA | @0 Autocontrol @5 14 |
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C03 | 10 | X | FRE | @0 Commande adaptative @5 15 |
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C03 | 10 | X | ENG | @0 Adaptive control @5 15 |
---|
C03 | 10 | X | SPA | @0 Control adaptativo @5 15 |
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C03 | 11 | X | FRE | @0 Coopération @5 18 |
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C03 | 11 | X | ENG | @0 Cooperation @5 18 |
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C03 | 11 | X | SPA | @0 Cooperación @5 18 |
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C03 | 12 | X | FRE | @0 Robot intelligent @5 19 |
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C03 | 12 | X | ENG | @0 Intelligent robot @5 19 |
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C03 | 12 | X | SPA | @0 Robot inteligente @5 19 |
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C03 | 13 | X | FRE | @0 Adaptabilité @5 20 |
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C03 | 13 | X | ENG | @0 Adaptability @5 20 |
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C03 | 13 | X | SPA | @0 Adaptabilidad @5 20 |
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C03 | 14 | X | FRE | @0 . @4 INC @5 82 |
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N21 | | | | @1 299 |
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N44 | 01 | | | @1 OTO |
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N82 | | | | @1 OTO |
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|
pR |
A30 | 01 | 1 | ENG | @1 IFAC INCOM 2006 Symposium on Information Control Problems in Manufacturing @2 12 @3 Saint Etienne FRA @4 2006-05-17 |
---|
|
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Le document en format XML
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