6533b7dcfe1ef96bd1271f15
RESEARCH PRODUCT
Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Player/Stage
Amel HamdaniaBrahim BouzouiaSidi-mohammed SenouciAbdelfetah HentoutHadjer KachouaneMohamed Ayoub Messoussubject
fiducial tagsComputer sciencemultiagent control architectureReal-time computing02 engineering and technologyRobot kinematicscyber-physical systemsCyber-physical systemPlayer/Stagerobot vicinity[SPI]Engineering Sciences [physics]mobile robotsrobot agentradiofrequency identificationRobot sensing systems0202 electrical engineering electronic engineering information engineering[ SPI ] Engineering Sciences [physics][INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]supervisory agentFiducial interfaceRFID cyber-physical robotic systemsmanipulatorsRFIDmobile manipulatorsRobot kinematicsbusiness.industryRFID readershuman operators020208 electrical & electronic engineering[ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO]intelligent robotsObject recognitionObject (computer science)fiducial finderscontrol levelRobot controlCentralized databaseIdentification (information)Control systemEmbedded systemfiducial systemMultirobot systemsRobot020201 artificial intelligence & image processingRFID tagsbusinessFiducial markerdescription
International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is assigned a Robot agent to carry out operations. We simulated RFID readers with fiducial finders and RFID tags with fiducials system using Player/Stage. Fiducial tags are attached to all the objects of interest of the environment; fiducial finders are installed on the robots (Robots agents) to be able to detect and identify each tagged object in the robots vicinity. Finally, obtained data are sent to the Supervisory agent to be saved and organized into a centralized database available for all the robots of the system.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2016-10-19 |