• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1126-1129
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• 2003

In this paper, we propose a multi-agent system for assisting those who need help in taking objects around him/her. One may imagine this kind of situation when a person is lying in bed and wishes to take an object on a distant table that cannot be reached only by stretching his/her hand. The proposed multi-agent system is composed of three main independent agents; a vision agent, a robot agent, and a pass agent. Once a human expresses his/her intention by pointing to a particular object using his/her hand and a finger, these agents cooperatively bring the object to him/her. Natural communication between a human and the multi-agent system is realized in this way. Performance of the proposed system is demonstrated in an experiment, in which a human intends to take one of the four objects on the floor and the three agents successfully cooperate to find out the object and to bring it to the human.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.608-611
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• 1997

The soccer robot system consists of multi agents, with highly coordinated operation and movements so as to fulfill specific objectives, even under adverse situation. The coordination of the multi-agents is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for soccer robot is designed and several behaviors and actions for a soccer robot are proposed. Variable zone defense as a basic strategy and several special strategies for fouls are applied to SOTY2 team.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.249-254
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• 2001

Abstract In this paper, we propose a method of cooperative control based on artifical intelligent system in distributed autonomous robotic system. In general, multi-agent behavior algorithm is simple and effective for small number of robots. And multi-robot behavior control is a simple reactive navigation strategy by combining repulsion from obstacles with attraction to a goal. However when the number of robot goes on increasing, this becomes difficult to be realized because multi-robot behavior algorithm provide on multiple constraints and goals in mobile robot navigation problems. As the solution of above problem, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for obstacle avoidance. Here, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for their direction to avoid obstacle. Our focus is on system of cooperative autonomous robots in environment with obstacle. For simulation, we divide experiment into two method. One method is motor schema-based formation control in previous and the other method is proposed by this paper. Simulation results are given in an obstacle environment and in an dynamic environment.

• Journal of Information Processing Systems
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• 제8권3호
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2002년도 추계학술발표논문집 (상)
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• pp.27-30
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• 2002

Recently, there are lots of concerning on the control of multi-agent control system and mixed reality integrating real and virtual environments. In this paper, an integrated agent control system based on mixed reality and mobile environment is proposed. The system consists of a manager, agents, a mapping module, a geographic information module, a WAP server, and a mobile manager. The manager has Hybrid Device Manager(HDM) working for revising images and position data of the agents to display that at the 3D virtual and mobile environments respectively. Especially, the images of the agent is translated to LBM format and displayed on the mobile phone, and the current position of the agent is displayed on the display screen, so that a user are able to control the agent when he is moving. Experimental results shows the proposed system lets us control the agents conveniently at a computer and a mobile phone.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.92.4-92
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• 2002

In this paper, as an ideal test bed for studies on multi-agent system, the multiple micro robot soccer playing system is introduced at first. The construction of such experimental system has involved lots of kinds of challenges such as sensors fusing, robot designing, vision processing, motion controlling, and especially the cooperation planning of those robots. So in this paper we want to stress emphasis on how to evolve the system automatically based on the model of behavior-based learning in multi-agent domain. At first we present such model in common sense and then apply it to the realistic experimental system . At last we will give some results showing that the proposed approach is feasi...

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3024-3026
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• 1999

This paper presents a cooperative action controller of a multi-agent system. To achieve an object, i.e. win a game, it is necessary that a robot has its own roles, actions and work with each other. The presented incorporated action controller consists of the role selection, action selection and execution layer. In the first layer, a fuzzy logic controller is used. Each robot selects its own action and makes its own path trajectory in the second layer. In the third layer, each robot performs their own action based on the velocity information which is sent from main computer. Finally, simulation shows that each robot selects proper roles and incorporates actions by the proposed controller.

• Industrial Engineering and Management Systems
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• 제8권3호
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• pp.181-193
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• 2009

This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권7호
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• pp.3566-3582
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• 2019

In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.