Skip to main content Accessibility help
×
Home

An integrated agent-based software architecture for mobile and manipulator systems

  • Patricio Nebot (a1) and Enric Cervera (a1)

Summary

Mobile manipulation involves the most important key issue in robotics: integration. While hardware integration seems to be nearly solved due to the increasing dominance of PC-compatible systems, software integration is still a challenge, since a lot of issues arise with the variety of operating systems, device drivers, application libraries, and programming languages which need to be merged in any real-world robotic system. This paper presents a software architecture, which seamlessly integrates robot arms, mobile bases, vision systems and sensing devices, in a distributed, homogeneous agent framework. Based on the Java platform, the agent-based architecture allows great flexibility in the integration of components, and provides a simple yet extensible and powerful software layer to develop further mobile manipulating environments. Detailed software issues, as well as preliminary results are shown, which pave the way towards the development of network-ready applications involving mobile and manipulating artifacts.

Copyright

Corresponding author

*Corresponding author. E-mail: pnebot@icc.uji.es

References

Hide All
1.Cardenas, A.Goodwine, B., Skaar, S. and Seelinger, M., “Vision-based control of a mobile base and on-board arm,” Int. J. Robot. Res. 22 (7), 677698 (2003).
2.Bayle, B.Fourquet, J.Y. and Renaud, M., “Manipulability of wheeled mobile manipulators: application to motion generation,” Int. J. Robot. Res. 22 (7), 565581 (2003).
3.Waarsing, B. J. W., Nuttin, M. and Van Brussel, H., “Behaviour-Based Mobile Manipulation: The Opening of a Door,” Proceedings of ASER’03 (2003) pp. 168175.
4.Perkins, C., RTP: Audio and Video for the Internet (Addison-Wesley, Boston, MA, 2003).
5.Kragic, D.Petersson, L. and Christensen, H. I., “Visually guided manipulation tasks,” Robot. Autonom. Syst. 40 (2–3), 193203 (2002).
6.Bellifemine, F.Caire, G., Poggi, A. and Rimassa, G.. “JADE a white paper,” EXP in search of innovation (special issue on JADE) 3 (3), 619 (2003).
7.Lidoris, G. and Buss, M., “A Multi-Agent System Architecture for Modular Robotic Mobility Aids,” Proceedings of the European Robotics Symposium (2006) 22, pp. 1526.
8.Konolige, K., “The SRI small vision system,” http://www.ai.sri.com/~konolige/svs/
9.Petersson, L., Egerstedt, M. and Christensen, H. I., “A Hybrid Control Architecture for Mobile Manipulation,” Proceedings of the IROS’99 (1999) pp. 12851291.
10.Erden, M. S., Leblebicioglu, K. and Halici, U., “Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task,” J. Intell. Robot. Syst. 39 (3), 287306 (2004).
11.Seelinger, M., Yoder, J. D., Baumgartner, E.T. and Skaar, S.B., “High-precision visual control of mobile manipulators,” IEEE Trans. Robot. Autom. 18 (6), 957965 (2002).
12.Khatib, O., “Mobile manipulation: the robotic assistant,” Robot. Autonom. Syst. 26 (2–3), 175183 (1999).
13.Nebot, P. and Cervera, E., “Agent-based Application Framework for Multiple Mobile Robots Cooperation,” Proceedings of the ICRA (2005) pp. 15091514.
14.Hough, P. V. C., “Methods and means for recognizing complex patterns,” U.S. Patent 3, 069, 654 (1962).
15.Gordon, R. and Talley, S., Essential JMF: Java Media Framework (Prentice Hall, Boston, MA, 1998).
16.Liang, S., Java(TM) Native Interface: Programmer's Guide and Specification (Addison-Wesley, Boston, MA, 1999).
17.Lin, S. and Goldenberg, A. A., “Neural-network control of mobile manipulators,” IEEE Trans. Neural Netw. 12 (5), 11211133 (2001).
18.Smith, S. M. and Brady, J. M.. “SUSAN—a new approach to low level image processing,” Int. J. Comput. Vis. 23 (1), 4578 (1997).
19.Andronache, V. and Scheutz, M., “Ade – an architecture development environment for virtual and robotic agents,” Int. J. Artif. Intell. Tools 15 (2), 251286 (2006).

Keywords

Related content

Powered by UNSILO

An integrated agent-based software architecture for mobile and manipulator systems

  • Patricio Nebot (a1) and Enric Cervera (a1)

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed.