COOPERATIVE MULTIAGENT SYSTEM FOR AN ASSEMBLY ROBOTICS CELL

A multi-agent system architecture is described and justified for the sake of its application to an assembly robotics testbed, A blackboard-based agent using a GoalBlackboard/DataBlackboard facility for intra (not inter) agent communication and including knowledge about all the agent's community, is presented as well as its main functionality, Coordination of different agents dynamically playing the roles either of organizers or respondents may lead to the use of either negotiation or client/server protocols for cooperation, Also some cooperative strategies and involved knowledge have been studied, classified and implemented in the robotics testbed enabling a sophisticated agent behavior both in terms of cooperation and local control. A real testbed, whose agents are briefly presented here, working with real-time constraints, has already been implemented and tested in our laboratory.