MULTI-ROBOT CONTROL SYSTEM FOR PURSUIT-EVASION PROBLEM

Abstract

We propose a hierarchical multi-agent control system with a rule based fuzzy system for a pursuit-evasion problem. We state a new representation of this type of problem that is based on fuzzy logic. We can express parts of the available space as fuzzy relations and assign them a name. Fuzzy logic allows easy expression of rules and the multi-agent structure supports separation of team and individual knowledge. An example application domain includes reckon and guard robots, research space probes, coordination of multiple mine sweeping devices or automatic rescue teams.