A Multi-agent Architecture for Multi-robot Surveillance
In this paper we propose a multi-agent architecture that gives support to a set of robots for surveillance tasks, such as environment exploration. We introduce two protocols to coordinate the robots: one of them to carry out role allocation depending on the mobility concept and the other one to gather information from the environment. The communication model is based on the use of communication channels and a publish-subscribe scheme that guarantees scalability when the number of robots increases. A case study in which the agents that control the robots are trained to recognise predefined patterns and to learn how far they are from the robots and their orientation is presented.
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