Title :
Cooperation and deadlock-handling for an object-sorting task in a multi-agent robotic system
Author :
Lin, Fang-Chang ; Hsu, Jane Yung-jen
Author_Institution :
Dept. of Comput. Sci. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
This paper presents a deadlock-free cooperation protocol for an object-sorting task in a multi-agent system. The object-sorting task in a distributed robotic system is introduced and a cooperation protocol for the task along with the agent architecture is proposed. The agents are based on a homogeneous agent architecture that consists of search, motion, and communication modules coordinated through a global state. The deadlock problem for the object-sorting task is addressed and several deadlock-handling strategies are provided to guarantee the cooperation protocol is deadlock-free
Keywords :
cooperative systems; distributed control; intelligent control; mobile robots; navigation; object recognition; path planning; protocols; search problems; communication modules; cooperation protocol; deadlock-free cooperation; deadlock-handling; distributed robotic system; homogeneous mobile robots; motion module; multi-agent robotic system; navigation; object-sorting task; obstacle avoidance; search module; Computer architecture; Computer science; Multiagent systems; Orbital robotics; Parallel robots; Protocols; Radioactive pollution; Robot kinematics; Space exploration; System recovery;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525646
