A Distributed Architecture for Mobile Multirobot Remote Interaction

摘要

This paper presents a distributed architecture based on the usage of intelligent user interfaces and multiagent systems to facilitate cooperative Internet-based remote interaction with a multirobot system. The proposed system relies on the agent paradigm for dealing with the size and complexity of cooperative remote interaction systems with multirobots, while taking advantage of intelligent user interfaces for obtaining high degree of naturalness during the interaction sessions. This generic architecture, featuring multimodality and adaptivity, supports an unlimited number of robots, an unlimited number of behaviors, and offers different operation modes making it a suitable platform for mobile multirobot remote interaction. Two different application scenarios based on this architecture are implemented and demonstrated to verify the architecture's efficacy