A multi Agent controller for a mobile arm manipulator

Sébatien Delarue, Philippe Hoppenot, Etienne Colle
IBISC, CNRS FRE 2873 - University of Evry, 40 rue du Pelvoux 91020 Evry cedex
sebastien.delarue@ibisc.univ-evry.fr, philippe.hoppenot@ibisc.univ-evry.fr, etienne.colle@ibisc.univ-evry.fr

Abstract:          In the assistive robotics domain, and especially for disable people, the use of mobile arm manipulator can be of a great help in the everyday life tasks. First, these systems must be reliable and fault tolerant. Secondly they must facilitate man machine co-operation. This article exposes a method based on multi agent system. This kind of distributed architecture makes possible to be fault-tolerant without any specific fault management, and thus to improve reliability. It is also possible to add specific constraints, for example human like behaviors in order to facilitate the use of the system by the operator. Moreover, this method is easy to implement.

Keywords:       Multi-agent, arm manipulator, mobile platform