Building perception for scheduling and executing a task using multi-agent systems

Abstract

Involvement of multi-agent systems for scheduling and executing a complex task autonomously, is addressed in the paper to solve the navigational problems in robotics. Here, a complex task is broken into a number of subtasks and one to one mapping between subtask and agent is determined from the given relationship among various agents. In a dynamic environment the state-space model of the multi-agent system has been designed using the agents' spatial coordinate positions and sensory data to facilitate performing a task through cooperation. The paper proposes an efficient strategy for collision resolution that may occur at an instant of time, while the robots navigate in the common environment. The distributed agent concept has been adopted in the paper to implement the whole scheme in Java.