Multi-Agent Based Control of a Heterogeneous System

Howard Li; Fakhreddine Karray; Otman Basir; Insop Song

doi:10.20965/jaciii.2006.p0161

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JACIII Vol.10 No.2 pp. 161-167

doi: 10.20965/jaciii.2006.p0161

(2006)

Paper:

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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

Received:

February 8, 2005

Accepted:

August 25, 2005

Published:

March 20, 2006

Keywords:

multi-agent systems, hybrid systems, control, framework

Abstract

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.

Cite this article as:

H. Li, F. Karray, O. Basir, and I. Song, “Multi-Agent Based Control of a Heterogeneous System,” J. Adv. Comput. Intell. Intell. Inform., Vol.10, No.2, pp. 161-167, 2006.

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References

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[5] L. E. Garza, F. J. Cantu, and S. Acevedo, “Faults diagnosis in industrial processes with a hybrid diagnostic system,” Proceedings of MICAI 2002: Advances in Artificial Intelligence. Second Mexican International Conference on artificial Intelligence, pp. 536-545, 2002.
[6] J. Kosakaya, A. Kobayashi, and K. Yamaoka, “Distributed supervisory system with cooperative multi-agent FEP,” Proceedings of 22nd International Conference on Distributed Computing Systems Workshops, pp. 633-638, 2002.
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[8] G. A. S. Pereira, B. S. Pimentel, L. Chaimowicz, and M. F. M. Campos, “Coordination of multiple mobile robots in an object carrying task using implicit communication,” Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 281-286, 2002.
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[11] P. Lucidarme, O. Simonin, and A. Liegeois, “Implementation and evaluation of a satisfaction/altruism based architecture for multirobot systems,” Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 1007-1012, 2002.
[12] P. Song, and V. Kumar, “A potential field based approach to multirobot manipulation,” Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 1217-1222, 2002.
[13] F. Karray, I. Song, and H. Li, “A framework for coordinated control of multi-agent systems,” Proceedings of IEEE International Symposium on Intelligent Control, pp. 156-161, 2004.
[14] Y. Shoham, and M. Tennenholtz, “On social laws for artificial agent societies: off-line design,” Artificial Intelligence, Vol.73, No.2, pp. 231-252, 1995.
[15] I. Song, F. Karray, and F. Guedea, “An advanced control framework for a class of distributed real-time systems,” Proceedings of the 2004 World Automation Congress, pp. 62-67, 2004.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] W. Brennan, M. Fletcher, and D. H. Norrie, “An agent-based approach to reconfiguration of real-time distributed control systems,” IEEE Transactions on Robotics and Automation, Vol.18, No.4, pp. 444-449, 2002.

[2] [2] J. Baeza, D. Gabriel, J. Bejar, and J. Lafuente, “A distributed control system based on agent architecture for wastewater treatment,” Computer-Aided Civil and Infrastructure Engineering, Vol.17, No.2, pp. 93-103, 2002.

[3] [3] M. G. Earl, and R. D’Andrea, “Modeling and control of a multiagent system using mixed integer linear programming,” Proceedings of 41st IEEE Conference on Decision and Control, Vol.1, pp. 107-111, 2002.

[4] [4] V. Crespi, G. Cybenko, D. Rus, and M. Santini, “Decentralized control for coordinated flow of multi-agent systems,” Proceedings of the 2002 International Joint Conference on Neural Networks (IJCNN), pp. 2604-2609, 2002.

[5] [5] L. E. Garza, F. J. Cantu, and S. Acevedo, “Faults diagnosis in industrial processes with a hybrid diagnostic system,” Proceedings of MICAI 2002: Advances in Artificial Intelligence. Second Mexican International Conference on artificial Intelligence, pp. 536-545, 2002.

[6] [6] J. Kosakaya, A. Kobayashi, and K. Yamaoka, “Distributed supervisory system with cooperative multi-agent FEP,” Proceedings of 22nd International Conference on Distributed Computing Systems Workshops, pp. 633-638, 2002.

[7] [7] Y. Indrayadi, H. P. Valckenaers, and H. Van Brussel, “Dynamic multi-agent dispatching control for flexible manufacturing systems,” Proceedings of 13th International Workshop on Database and Expert Systems Applications, pp. 489-493, 2002.

[8] [8] G. A. S. Pereira, B. S. Pimentel, L. Chaimowicz, and M. F. M. Campos, “Coordination of multiple mobile robots in an object carrying task using implicit communication,” Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 281-286, 2002.

[9] [9] P. Sellem, E. Amram, and D. Luzeaux, “Open multi-agent architecture extended to distributed autonomous robotic systems,” In Proceedings of the SPIE - The International Society for Optical Engineering, Vol.4024, pp. 170-177, 2000.

[10] [10] J. Soler, V. Julian, C. Carrascosa, and V. Botti, “Applying the ARTIS agent architecture to mobile robot control,” Proceedings of Advances in Artificial Intelligence, International Joint Conference 7th Ibero-American Conference on AI 15th Brazilian Symposium on AI IBERAMIA-SBIA 2000, pp. 359-368, 2000.

[11] [11] P. Lucidarme, O. Simonin, and A. Liegeois, “Implementation and evaluation of a satisfaction/altruism based architecture for multirobot systems,” Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 1007-1012, 2002.

[12] [12] P. Song, and V. Kumar, “A potential field based approach to multirobot manipulation,” Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pp. 1217-1222, 2002.

[13] [13] F. Karray, I. Song, and H. Li, “A framework for coordinated control of multi-agent systems,” Proceedings of IEEE International Symposium on Intelligent Control, pp. 156-161, 2004.

[14] [14] Y. Shoham, and M. Tennenholtz, “On social laws for artificial agent societies: off-line design,” Artificial Intelligence, Vol.73, No.2, pp. 231-252, 1995.

[15] [15] I. Song, F. Karray, and F. Guedea, “An advanced control framework for a class of distributed real-time systems,” Proceedings of the 2004 World Automation Congress, pp. 62-67, 2004.