Federal University of ABC, Centre of Mathematics, Computation and Cognition, Av. dos Estados, 5001, Bairro Santa Terezinha, CEP 09210-580, Santo André/São Paulo, Brazil, e-mails: wagner.tanaka@ufabc.edu.br, graca.marietto@ufabc.edu.br, eduardo16lmendes@gmail.com, edson.pimentel@ufabc.edu.br, santos.tamires@ufabc.edu.br"/> Faculty of Technology (FATEC-Itaquera), São Paulo, Brazil, e-mail: daniel_rsousa@hotmail.com"/> Federal Institute of Education, Science and Technology of São Paulo, Brazil, e-mail: verals.silva@gmail.com"/>
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2020 Volume 35
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Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study

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  • Abstract: Multi-Robot System (MRS) is composed of a group of robots that work cooperatively. However, Multi-Agent System (MAS) is computational systems consisting of a group of agents that interact with each other to solve a problem. The central difference between MRS and MAS is that in the first case, the agent is a robot, and in the second, it is a software. Analyzing the scientific literature, it is possible to notice that few studies address the integration between MAS and MRS. In order to achieve the interdisciplinary integration, the theoretical background of these areas must be considered in this paper, so that the integration can be applied using a case study of decentralized MRS. The objective of this MRS is to track and surround a stationary target. Also, it has been implemented and validated in the robot simulator called Virtual Robot Experimentation Platform (V-REP). In the validation of the proposed MRS, a scenario with three robots and a stationary target were defined. In the tracking task, the robot can detect the target whose position is not known a priori. When the detection occurs, the V-REP informs the target position to the robot because the environment is discretized into a grid of rectangular cells. After that, all the robots are directed to the target, and the surround task is realized. In this task, a mathematical model with direct communication between the robots was used to keep the robots equidistant therefrom and from each other.
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  • Cite this article

    Wagner Tanaka Botelho, Maria Das Graças Bruno Marietto, Eduardo De Lima Mendes, Daniel Rodrigues De Sousa, Edson Pinheiro Pimentel, Vera Lúcia da Silva, Tamires dos Santos. 2020. Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study. The Knowledge Engineering Review 35(1), doi: 10.1017/S0269888920000375
    Wagner Tanaka Botelho, Maria Das Graças Bruno Marietto, Eduardo De Lima Mendes, Daniel Rodrigues De Sousa, Edson Pinheiro Pimentel, Vera Lúcia da Silva, Tamires dos Santos. 2020. Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study. The Knowledge Engineering Review 35(1), doi: 10.1017/S0269888920000375
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REVIEW   Open Access    

Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study

  • Received: 20 June 2019
  • Revised: 11 July 2020
  • Accepted: 12 July 2020
  • Published online: 13 August 2020
The Knowledge Engineering Review  35,  2020, 35(1)  |  Cite this article

Abstract: Abstract: Multi-Robot System (MRS) is composed of a group of robots that work cooperatively. However, Multi-Agent System (MAS) is computational systems consisting of a group of agents that interact with each other to solve a problem. The central difference between MRS and MAS is that in the first case, the agent is a robot, and in the second, it is a software. Analyzing the scientific literature, it is possible to notice that few studies address the integration between MAS and MRS. In order to achieve the interdisciplinary integration, the theoretical background of these areas must be considered in this paper, so that the integration can be applied using a case study of decentralized MRS. The objective of this MRS is to track and surround a stationary target. Also, it has been implemented and validated in the robot simulator called Virtual Robot Experimentation Platform (V-REP). In the validation of the proposed MRS, a scenario with three robots and a stationary target were defined. In the tracking task, the robot can detect the target whose position is not known a priori. When the detection occurs, the V-REP informs the target position to the robot because the environment is discretized into a grid of rectangular cells. After that, all the robots are directed to the target, and the surround task is realized. In this task, a mathematical model with direct communication between the robots was used to keep the robots equidistant therefrom and from each other.

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    • This work was supported by the São Paulo Research Foundation (FAPESP) [grant numbers 2013/17929-2 and 2015/02301-3].

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    Wagner Tanaka Botelho, Maria Das Graças Bruno Marietto, Eduardo De Lima Mendes, Daniel Rodrigues De Sousa, Edson Pinheiro Pimentel, Vera Lúcia da Silva, Tamires dos Santos. 2020. Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study. The Knowledge Engineering Review 35(1), doi: 10.1017/S0269888920000375
    Wagner Tanaka Botelho, Maria Das Graças Bruno Marietto, Eduardo De Lima Mendes, Daniel Rodrigues De Sousa, Edson Pinheiro Pimentel, Vera Lúcia da Silva, Tamires dos Santos. 2020. Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study. The Knowledge Engineering Review 35(1), doi: 10.1017/S0269888920000375
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