Multi-agent control architecture for RFID cyber-physical robotic systems
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Multi-agent control architecture for RFID cyber-physical robotic systems |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Hentout A, Hamdania A, Kachouane H, Messous MAyoub, Bouzouia B, Senouci S-M |
| Conference Name | 2016 GLOBAL INFORMATION INFRASTRUCTURE AND NETWORKING SYMPOSIUM (GIIS) |
| Publisher | IEEE |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5090-3608-0 |
| Mots-clés | Cyber-physical system, Fiducial interface, Multi-robot systems, Player/Stage, RFID |
| Résumé | The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID CyberPhysical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents; to each robot (mobiles, manipulators or mobile manipulators) is assigned a Robot agent to carry out operations. We simulated RFID readers with fiducial finders and RFID tags with fiducials system using Player/Stage. Fiducial tags are attached to all the objects of interest of the environment; fiducial finders are installed on the robots (Robots agents) to be able to detect and identify each tagged object in the robots vicinity. Finally, obtained data are sent to the Supervisory agent to be saved and organized into a centralized database available for all the robots of the system. |