Integrating Robotic Sensor and Effector Capabilities with Multi-agent Organizations

Robots possess many eectors and sensors of various capability. It is often dicult, not only to integrate these numerous capabilities, but also to organize them to accomplish a set of goals or tasks. Even more dicult is how to reorganize on the condition that a sensor/eector is damaged or incapacitated during operation. In this paper, we show how a organization-based multi-agent system (OMAS) adapts to control the sensor and eectors within a robot. The OMAS can also be extended to model the sensor and eectors for a team of cooperative robots. The use of integrating sensors/eectors

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