Multi-Agent Based Control of a Heterogeneous System
Howard Li, Fakhreddine Karray, Otman Basir, and Insop Song
Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, Canada N2L 3G1
In this study, the Coordinated Hybrid Agent (CHA) framework for the control of Multi-Agent Systems (MASs) is applied for a heterogeneous multi-agent system. The system consists of a mobile robot, an overhead crane, and a robot manipulator. The final goal for this project is to implement coordination tasks for the system. In this framework, the control of the MAS is regarded as a decentralized control and coordination of agents. A coordination rule base is developed for the intelligent coordination control layer. Experiments show that the framework is able to model the heterogeneous multi-agent systems.
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