Multi-agent architecture for telelerobotics of mobile robot manipulatures

الملخص EN

This paper describes a multi-agent architecture for telerobotics of mobile robot manipulators.

The architecture consists of three agents : Supervisory Agent, Mobile Robot Agent and Manipulator Robot Agent.

The Supervisory Agent is composed of one Piloting Layer.

The two other agents are composed, each one, of two layers (Piloting Layer and Operative Layer).

The Piloting Layers are installed on an off-board PC.

The Operative Layers are installed on the on-board PC of the robot.

The autonomy of decision-making while performing a cooperative mission is employed at the local site (Piloting Layers of the agents) and, then, transmitted to the remote site (Operative Layers of the agents) for execution.

The implementation of the architecture is done on the RobuTER / ULM mobile robot manipulator.