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Application of Mobile Code to Development of Cooperative Multirobot Systems

Summary: Application of Mobile Code to Development of
Cooperative Multirobot Systems
Francesco Amigoni and Marco Somalvico
Politecnico di Milano Artificial Intelligence and Robotics Project
Dipartimento di Elettronica e Informazione
Politecnico di Milano, Milan, Italy
amigoni@elet.polimi.it, somalvic@elet.polimi.it
Abstract. Multirobot systems address an increasing number of differ-
ent applications. However, a general assessed methodology for design-
ing and developing the cooperation structure of these systems is still
lacking. In this paper we present one of such methodologies, called dy-
namic agency, which is strongly based on a novel distributed production
system, called DCLIPS, that acts an infrastructure for inferential code
mobility. The adoption of mobile code promotes ease and flexibility in
developing and managing the cooperation structure of multirobot sys-
tems. We have experimentally tested our methodology by building a
multirobot system that maps unknown environments.
1 Introduction
The present market and technology yield the possibility to build systems composed of
several robots that cooperate in order to reach a global goal [4]. Usually, the coop-


Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano


Collections: Computer Technologies and Information Sciences