Building Multi-Robot System based on five capabilities model

Multi-Robot System (MRS) is considered as a particular form of Multi Agent System (MAS) by specifically addressing planning and social abilities. The design of autonomous robots includes the design of team behaviors constituted by several intelligent agents each one has to interact with the other autonomous robots. The problem faced is how to ensure a distributed planning through the cooperation of the distributed robotic agents. To do so, we propose to use the conept of five capabilities model which is based on Environment, Self, Planner, Competence and Communication. We illustrate our line of thought with a Benchmark Production System used as a running example to explain our contribution.