MobComm: Using BDI-agents for the reconfiguration of mobile commissioning robots

In this paper a flexible reconfiguration mechanism for industrial mobile robots in car manufacturing is presented. The used application layer is divided into a standard holon and heterarchical-organised reconfiguration holons. The standard holon performs routine tasks which are focused on commissioning tasks related to car manufacturing. A reconfiguration holon is activated after an internal stimulus and realised by BDI agents. In a reconfiguration holon, functionalities of standard holon agents are mapped and enhanced with a world model and planning capabilities. Thus a domain independent and self-contained reconfiguration holon can be provided for reconfiguration. System productivity, process performance, and process stability is maintained during reconfiguration. To eliminate undesired system behaviour after reconfiguration, a dependable validity check of new agents, both as a simulation and in real-world, is provided.