An architecture for cooperation among autonomous agents

Abstract

This thesis develops the Architecture for Behaviour Based Agents (ABBA) - an architecture suitable for supporting the distributed planning of cooperative behaviour in multi-robot systems. ABBA was used to implement a concrete cooperative cleaning task using two mobile robots, both to drive the design requirements and as a demonstration of its efficacy. The cleaning task solution requires reactive and deliberative behaviour, purposive navigation by learning unknown environments, cooperation and communication.