Intelligent Hybrid Modular Architecture for Multi Agent System

Nowadays, the study on adaptation of control architecture based on action based robotics to multi-robot system has been carried out actively. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The important problems that should be considered in the realization of multi-robot system are as follows: Clear realization and modeling of present environment, Reconstruction of complicated tasks with efficient simple tasks, Efficient allocation of the simple and reconstructed tasks to each robot system, and Effective performance of planned tasks. At this time, the change of environment which are referred to prepared dynamic environment and the dispersion of tasks prevent robot from performing effectively, and these cause the increase of calculation quantity and the time restriction in real time control. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. The control architectures of robot in the action based robotics are mainly divided into two types of deliberative and reactive type. The control architecture of traditional deliberative type is slow in reaction velocity, but is suitable for the realization of high level intelligence due to the possibility of prediction at the time flow based on circumstance model, whereas the control architecture of reactive type also is suitable for the realization of low level intelligence because it is suitable for the realization of rapid active reaction activity according to sensor input without making use of perfect circumstance model. But reviewing the environment of application field which is really used in robot, there exists prior knowledge known, uncertainty of environment and dynamic environmental change. Therefore in the application of real system, if either of pure deliberative controller and pure reactive controller is applied, system capability may be decreased. As a result, it is considered that combined utilization using the merit of these two control architectures is effective. Therefore in this study, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system, soccer robot system and experiment. Firstly, in chapter 2, the state set which relates to environmental model for the robot action and the action set which models robot action will be described. In chapter 3, the relationship between state set and action set will be described. Lastly in chapter 4, the case that the above algorithm is applied to robot system will be described. In chapter 5, the results that is experimented through the application to the soccer robot system of multi-robot system will be shown.