Type of Document Master's Thesis Author Bijayendrayodhin, Anak Author's Email Address email@example.com URN etd-0329102-160955 Title DESIGN OF THE PEER AGENT FOR MULTI-ROBOT COMMUNICATION IN AN AGENT-BASED ROBOT CONTROL ARCHITECTURE Degree Master of Science Department Electrical Engineering Advisory Committee
Advisor Name Title K. Kawamura, Ph.D. Committee Chair D. Mitch Wilkes, Ph. D. Committee Member Keywords
Date of Defense 2002-03-11 Availability unrestricted AbstractThe role of communication among mobile robots remains one of the most important issues
in multi-agent robotics system design. There are many research groups currently working on
communication and cooperation among robots. Cooperation requires communication whenever
one’s actions depend critically on the knowledge that is accessible only from others.
In the Intelligent Robotics Laboratory at Vanderbilt University, we are currently developing
a method for robots to communicate and share knowledge with each other. We have developed the
concept of the Peer Agent that will enable robots to exchange information between one another.
The research experiment, described in this thesis, involved two mobile robots; Skeeter, a
Pioneer 2-AT robot and Scooter, an ATRV-Jr robot. We will show that knowledge sharing through
Peer Agents can lead to a more stable, robust and efficient cooperation between robots.
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