Resource Coordination Deployment for Physical Agents

摘要

When developing a multi-agent architecture for controlling a single robot, as the one described here, agents share resources and a coordination mechanism is required to solve possible resource usage conflicts. Moreover, some the resources involved in a robot act in the physical world, and the agent exchange on the resource usage can cause some disruptions on the physical robot behavior. So, in addition to coordination method, a mechanism to effectively implement the resource exchange from one agent to another one is needed. In this paper we present a methodology to achieve a resource exchange among different agents that mitigates any possible disruption in the physical robot behavior. The methodology comprises a Sugeno fuzzy system to determine the time window interval required to perform an smoothing change. Our methodology has been tested in a Pioneer 2DX of ActivMedia Robotics.