Journal Article10.1017/S0263574706003316
An integrated agent-based software architecture for mobile and manipulator systems
Patricio Nebot,Enric Cervera +1 more
TL;DR: A software architecture is presented, which seamlessly integrates robot arms, mobile bases, vision systems and sensing devices, in a distributed, homogeneous agent framework based on the Java platform, which allows great flexibility in the integration of components.
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Abstract: Mobile manipulation involves the most important key issue in robotics: integration. While hardware integration seems to be nearly solved due to the increasing dominance of PC-compatible systems, software integration is still a challenge, since a lot of issues arise with the variety of operating systems, device drivers, application libraries, and programming languages which need to be merged in any real-world robotic system. This paper presents a software architecture, which seamlessly integrates robot arms, mobile bases, vision systems and sensing devices, in a distributed, homogeneous agent framework. Based on the Java platform, the agent-based architecture allows great flexibility in the integration of components, and provides a simple yet extensible and powerful software layer to develop further mobile manipulating environments. Detailed software issues, as well as preliminary results are shown, which pave the way towards the development of network-ready applications involving mobile and manipulating artifacts.
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Citations
•Dissertation
Agent-Based Architecture for Multirobot Cooperative Tasks: Design and Applications
Patricio Nebot Roglá
- 11 Jan 2008
TL;DR: This thesis focuses on the development of a system in which a team of heterogeneous mobile robots can cooperate to perform a wide range of tasks, and the creation of an architecture which gives support for the cooperation.
6
Memory-centered and Affordance-based Framework for Mobile Manipulation
Christoph Pohl,Fabian Reister,Fabian Peller-Konrad,Tamim Asfour +3 more
TL;DR: This paper presents a comprehensive memory-centered, affordance-based, and modular uni- and multi-manual grasping and mobile manipulation framework, applicable to complex robot systems with a high number of degrees of freedom such as humanoid robots.
3
HumanPT: An Open-source, HumanPT Architecture-based, Robotic Application for Low Cost Robotic Tasks
TL;DR: Small enterprises by means of the proposed architecture and the open source software can be automated at low cost enhancing in this way their production.
1
Agent Control for Reconfigurable Open Kinematic Chain Manipulators
TL;DR: This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology, which enables independent manipulator structure from the control system because of its structural and system modularity.
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