A structured dynamic multi-agent architecture for controlling mobile office-conversant robot

This paper proposes a multi-agent software architecture for controlling higher level behaviors of a mobile office-conversant robot. In order to keep the whole system comprehensive and extensible, a group structure is introduced into multi-agent architecture. In the architecture, the whole system is divided into several behavior-manager agents and the behavior-manager manages multiple behavior agents, which are dynamically created and destroyed on demands. Several behaviors and behavior-managers are implemented as classes of an object-oriented Lisp. Dialog-based map learning and teleoperation experiments with real mobile robot Jijo-2 are shown for evaluating the architecture