The ability to reach into con??ded and unorganized envi- ronments, and grasp and manipulate various objects make hyper-redundant robotic manipulators the ideal tool for a variety of applications. Such applications include search and rescue, exploration of unknown environments, assem- bly and manufacturing as well as robotic-surgery. A key challenge that has limited the applicability of such robotic manipulators is the di??culty in controlling a robot with a very large number of interacting components. This paper aims to address this issue by using a new adaptive multia- gent control approach for exible shape changes of so called snake-arms and discusses extensions including a universal, more versatile, tree-like robotic manipulator. Our prelim- inary results show the feasibility of the approach and the potential bene??ts of a multiagent approach which includes scalability, fault tolerance, adaptivity and automated load balancing. A key ??nding of this study is the necessity of principled credit assignment for the agents, so that their collective actions optimize the performance of the full robot structure.
|Title of host publication||Proceedings of the International Workshop of Adaptive and Learning Agents and Multi-Agent Systems (in connection with AAMAS '08), Estoril, Portugal.|
|Publication status||Published - 2008|
|Event||7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2008), May 12-16, 2008, Estoril, Portugal - Estoril, Portugal|
Duration: 12 May 2008 → 16 May 2008
|Conference||7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2008), May 12-16, 2008, Estoril, Portugal|
|Abbreviated title||AAMAS 2008|
|Period||12/05/08 → 16/05/08|