ADAPTIVE KNOWLEDGE-BASED ACTION SELECTION ARCHITECTURE FOR MULTIPLE MOBILE ROBOTS

This paper proposes a biologically-inspired collective behaviour for a team of co-operating robots. A modification of the subsumption architecture is proposed for implementing the control of the individual robots. The paper proposes a new approach of fuzzy logic technique to enable the resolution of conflicts between contradictory behaviours within each robot. Furthermore, a novel adaptive knowledge-based software architecture has been developed that enables team of robot agents to achieve adaptive co-operative control. Simulated and real experiments have been conducted on team of mobile robots performing two proof-of-concept co-operative tasks: dynamic target tracking and box-pushing.