University of Wollongong
Research Online
University of Wollongong Thesis Collection
University of Wollongong Thesis Collections
1998
An architecture for cooperation among
autonomous agents
David Jung
University of Wollongong
Recommended Citation
Jung, David, An architecture for cooperation among autonomous agents, Doctor of Philosophy thesis, Department of Computer
Science, University of Wollongong, 1998. http://ro.uow.edu.au/theses/1291
Research Online is the open access institutional repository for the
University of Wollongong. For further information contact the UOW
Library: [email protected]
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Jung, David, Cheng, Gordon and Zelinsky, Alexander, “Robot Cleaning: An Application of
Distributed Planning and Real-time Vision”, Field and Service Robotics, Springer, Alexander
Zelinsky (ed.), pp187-194, 1998.
Jung, David and Zelinsky, Alexander, “An Architecture for Distributed Cooperative-Planning in a
Behaviour-based Multi-robot System”, to appear in Journal of Robotics & Autonomous Systems
(RA&S), special issue on Field & Service Robotics, 1998.
Jung, David, Heinzmann, Jochen and Zelinsky, Alexander, “Range and Pose Estimation for Visual
Servoing on a Mobile Robotic Target”, Proc. IEEE International Conference on Robotics and
Automation (ICRA), vol. 2 pp1226-1231, Leuven, Belgium, May 1998.
Jung, David and Zelinsky, Alexander, “Whisker-Based Mobile Robot Navigation”, Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol 2. pp497-504,
November 1996.
Jung, David, Cheng, Gordon and Zelinsky, Alexander, “An Experiment in Realising Cooperation
between Autonomous Mobile Robots”, Fifth International Symposium on Experimental Robotics
(ISER), pp513-524, Barcelona, Catelonia, June 1997.
Jung, David and Zelinsky, Alexander, “Cleaning: An Experiment in Autonomous Robot
Cooperation”, Proceedings of the World Automation Congress (WAC) - International Symposium on
Robotics and Manufacturing (ISRAM), vol 3. pp351-356, Montipellier, France, March, 1996.
Jung, David, Cheng, Gordon and Zelinsky, Alexander, “Robot Cleaning: An Application of
Distributed Planning and Real-time Vision”, International conference on Field and Service Robotics
(FSR), pp513-524, Canberra, Australia, 1997.
Jung, David, Stanley, Ben, Zelinsky, Alex, McKerrow, Phillip, Ohya, Akihisa, Tsubouchi, Takashi and
Yuta, Shin’ichi, “Collaborative Research in Intelligent Autonomous Systems between the
Universities of Wollongong and Tsukuba”, Proceedings of the Australian Robot Association (ARA)
conference, Melbourne, July, pp222-229, 1995
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he research effort into multi-robot systems is driven by the assumption that multiple
agents have advantages over single agents for the solution of some problems. The first
section in this chapter asks what these advantages might be. In particular, we argue that
significant reliability and economic benefits may be had by employing multi-robot cooperative
systems for tasks that could be achieved with a single robot. Once we have established why we
wish to build a cooperative system, we need to look into exactly what FRRSHUDWLRQ LV.
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Section 3.2
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This is followed, in
section 3.3, by a look at specific mechanisms for cooperation in biological V\VWHPV LQ WKH KRSH
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general control architectures and the DFWLRQ VHOHFWLRQ SUREOHP. This is in line with our
approach to addressing the selection of cooperative actions as an extension of the JHQHUDO DFWLRQ
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Finally, section 3.5 summarises and reiterates all the important points we have learnt
about biological and robotic systems in this and the previous chapter. These are considered in
the design of the ABBA architecture presented in the next chapter.
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One obvious advantage of multi-robot systems is that some tasks simply cannot be
accomplished by a single agent. For example, lifting heavy or awkward payloads, or executing
tasks that must be accomplished quickly.
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