Decentralized control of distributed intelligent robots and subsystems

Laengle, T.; Lueth, Tim C.

doi:10.1016/0066-4138(94)90079-5

Cited by 8 publications

(2 citation statements)

References 13 publications

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“…A decoupled manufacturing system has certain advantages, but can benefit centralized (e.g.) scheduling optimization also [33]. Centralized planning is more time-consuming, is poorly sensitive to dynamic changes, but will generate long term global optima compared to decentralized planning, which can only ever reach a local optimum.…”

Section: Decentralized Systemsmentioning

confidence: 99%

Design of a decentralized modular architecture for flexible and extensible production systems

Essers

Vaneker

2016

Mechatronics

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Section: Decentralized Systemsmentioning

confidence: 99%

Design of a decentralized modular architecture for flexible and extensible production systems

Essers

Vaneker

2016

Mechatronics

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“…Laengle and al . proposed in (Laengle Th., Lueth T.C., 1994), (Lueth T. C., Laengle Th., 1994) and (Laengle Th, Lueth T.C., Rembold U., Woern H., 1997) the distributed control architecture KAMARA ( KAMRO's Multi-Agent Robot Architecture ) to drive the KAMRO ( Karlsruhe Autonomous Mobile Robot ) mobile manipulator robots. In this architecture, a robot meta-agent is composed of three parts: The Communicator agent is a communication channel connecting the Head agent to the other agents of the same level or higher, the Head agent selects plans and actions for tasks execution, and the Body agent which is composed itself by several other agents.…”

Section: Introductionmentioning

confidence: 99%

Multi-agent Architecture Model for Driving Mobile Manipulator Robots

Hentout

Bouzouia

Toukal

2008

International Journal of Advanced Robotic Systems

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In this article, we present generic hierarchical behavior-based architecture model for driving mobile manipulator robots. Two behaviors are of high-level. They constitute the Supervisory agent, which manages the global system. Two others are of intermediate-level and finally one behavior is of low-level. These last ones constitute the Mobile Robot agent and the Manipulator Robot agent controlling, respectively, the mobile base and the manipulator arm. The choice of the suggested model is justified by the generic character of the proposed agent model and by the possibility of integrating the whole in a distributed robotic system. The model is formalized in Agent UML from the conceptual level to the implementation level. The interaction between the various agents is modeled by the use of the interaction diagrams of Agent UML (states and protocol diagrams).

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