High Level Programming Tools for Robotic Interaction Protocols: a Logic Programming Approach.

MARIANO TUCAT; ALEJANDRO J. GARCÍA

Buenos Aires

Simposio; 4th International Symposium of Autonomous Minirobots for Research and Edutainment (AMiRE 07); 2007

Universidad de Buenos Aires

In this paper we consider the problem of programming autonomous mobile robots in a Multi-Robot System. We focus on the development of heterogeneous multi-robot systems, in which each robot is autonomous and cooperates in order to achieve a shared task. We propose to design Multi-Robot Systems in a way in which each robot decides the best action for itself but also considers other robots behavior. The way of designing the robot behavior tries to maximize the benefit of using communication. We describe how to implement an interaction protocol that allow robots to decide which is the best action to execute. In order to facilitate the programming of the robots with the ability to communicate with each other, we usea set of primitives that allow them to interact easily. The interaction among the robots is carried out through FIPA ACL.