A distributed control architecture for an experimental mobile robot

We present in this paper, a mobile robot named ICAR (for Intelligent Cooperative Autonomous Robot) using a distributed architecture. This mobile robot must be able to perform tasks ordered by a supervisor or another robot. So, we can build a team in which several ICAR agents can work in cooperation on distributed or sequential tasks. To accomplish a mission in multi-robot environments, a cooperative behavior with specific rules is necessary. After having deal with the general interest of a such structure, we present the motion control devices, the sensing fonctions, the;control architecture, the internal and external networks hold back for the ICAR agent conception. So, we present the communication strategy of the external network, and the interpretation and decision strategy. We show, in the end, the first results got with a such structure.