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Autonomous Planning Framework for Distributed Multiagent Robotic Systems


Švaco, Marko; Šekoranja, Bojan; Jerbić, Bojan
Autonomous Planning Framework for Distributed Multiagent Robotic Systems // Technologica Innovation for Sustainability / Camarinha-Matos, Luis M (ur.).
Heidelberg: Springer Verlag, 2011. str. 147-154 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Autonomous Planning Framework for Distributed Multiagent Robotic Systems

Autori
Švaco, Marko ; Šekoranja, Bojan ; Jerbić, Bojan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Technologica Innovation for Sustainability / Camarinha-Matos, Luis M - Heidelberg : Springer Verlag, 2011, 147-154

ISBN
978-3-642-19169-5

Skup
Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS'11)

Mjesto i datum
Lisabon, Portugal, 21-23.02.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Distributed robotic system; autonomous planning; multiagent system; assembly; industrial robotics

Sažetak
In this paper a creative action planning algorithm (CAPA) is presented for solving multiagent planning problems and task allocation. The distributed multiagent system taken in consideration is a system of m autonomous agents. Agents workspace contains simplified blocks which form different space structures. By employing the planning algorithm and through interaction agents allocate tasks which they execute in order to assemble the required space structure. The planning algorithm is based on an inductive engine. From a given set of objects which can differ from the initial set agents need to reach a solution in the anticipated search space. A multiagent framework for autonomous planning is developed and implemented on an actual robotic system consisting of three 6 DOF industrial robots.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Strojarstvo



POVEZANOST RADA


Projekt / tema
120-1201948-1941 - AUTONOMNA VIŠEAGENTNA AUTOMATSKA MONTAŽA (Bojan Jerbić, )

Ustanove
Fakultet strojarstva i brodogradnje, Zagreb