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Title page for ETD etd-0329102-160955

Type of Document Master's Thesis
Author Bijayendrayodhin, Anak
Author's Email Address anak.bijay@vanderbilt.edu
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
  • agent-based
  • robotics
  • robot
  • multi-robot
Date of Defense 2002-03-11
Availability unrestricted
The 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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