A multi-agent approach to hyper-redundant manipulators

D. Hennes, K. Tumer, K.P. Tuyls

    Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

    Samenvatting

    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.
    Originele taal-2Engels
    TitelProceedings of the International Workshop of Adaptive and Learning Agents and Multi-Agent Systems (in connection with AAMAS '08), Estoril, Portugal.
    Pagina's25-32
    StatusGepubliceerd - 2008
    Evenement7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2008), May 12-16, 2008, Estoril, Portugal - Estoril, Portugal
    Duur: 12 mei 200816 mei 2008

    Congres

    Congres7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2008), May 12-16, 2008, Estoril, Portugal
    Verkorte titelAAMAS 2008
    Land/RegioPortugal
    StadEstoril
    Periode12/05/0816/05/08
    AnderInternational Conference on Autonomous Agents : AAMAS'08, 12-16 May 2008, Estoril, Portugal.

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