A simulation tool for an agent-based mobile robot application

This paper presents a simulation tool to test concepts related to Distributed Artificial Intelligence (DAI), multi agent systems (MAS) and agent oriented programming (AOP), such as cooperation and coordination within an MAS, degrees of autonomy both in a flat agent architecture, as well as in a layered architecture of supervisory control. As a case study suitable to an agent oriented approach, the tool implements an application of exploring and mapping an unknown space, allowing the study of agent behaviour and emergent system behaviour in a variety of test conditions. This simulation software will be subsequently extended to include a module for interfacing mobile robots which will exhibit the behaviours tested in simulation, as physical counterparts of the simulated agents.