Accession Number:

ADA446466

Title:

Integrating Robotic Sensor and Effector Capabilities with Multi-Agent Organizations

Descriptive Note:

Research paper

Corporate Author:

KANSAS STATE UNIV MANHATTAN DEPT OF COMPUTER SCIENCE

Personal Author(s):

Report Date:

2004-01-01

Pagination or Media Count:

9.0

Abstract:

Robots possess many effectors and sensors of various capability. It is often difficult, not only to integrate these numerous capabilities, but also to organize them to accomplish a set of goals or tasks. Even more difficult is how to reorganize on the condition that a sensoreffector is damaged or incapacitated during operation. In this paper, the authors show how an organization-based multi-agent system OMAS adapts to control the sensors and effectors within a robot. The OMAS can also be extended to model the sensor and effectors for a team of cooperative robots. The use of integrating sensorseffectors via an OMAS will produce a self-reorganizing, fault tolerant control architecture capable of allowing a robot, or a team of robots, to overcome obstacles and faults within dynamic domains where sensor and effector failure rates may be high. Another positive effect of an OMAS is simplification of system complexity where a non-trivial number of sensors and effectors exist.

Subject Categories:

  • Computer Programming and Software
  • Cybernetics
  • Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE