Remote Controlled Group Behavior for Widely Spreaded and Cooperative Mobile Robots in Wireless Sensor Network Environment

In this paper, we present the experiments with robots in a wireless sensor network environment to support intelligent generation of group behaviors. We propose real-time software architecture in a wireless sensor network (WSN) environment for practical applications. The architecture is a layered architecture including decision making, knowledge processing, execution, and communication and sensor/actuator layers. The proposed architecture is tested for the multi-robot environment, where the robots are expected to exhibit group behaviors. The rules are written in CLIPS expert system tool to perform intelligent behavior generation and dynamic reasoning so as to make the behaviors more realistic.