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Sensors 2018, 18(2), 417; https://doi.org/10.3390/s18020417

A Decentralized Framework for Multi-Agent Robotic Systems

1
Department of Electronic Engineering, Los Libertadores Foundation University, Cr.16#63A-68 Bogotá, Colombia
2
Department of Computer Sciences, University of Oviedo, Street San Francisco 1, 33003 Oviedo, Asturias, Spain
3
Department of Engineering, Distrital University Francisco José de Caldas, Cr.7#40B-53 Bogotá, Colombia
*
Author to whom correspondence should be addressed.
Received: 23 December 2017 / Revised: 14 January 2018 / Accepted: 17 January 2018 / Published: 1 February 2018
(This article belongs to the Section Sensor Networks)
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Abstract

Over the past few years, decentralization of multi-agent robotic systems has become an important research area. These systems do not depend on a central control unit, which enables the control and assignment of distributed, asynchronous and robust tasks. However, in some cases, the network communication process between robotic agents is overlooked, and this creates a dependency for each agent to maintain a permanent link with nearby units to be able to fulfill its goals. This article describes a communication framework, where each agent in the system can leave the network or accept new connections, sending its information based on the transfer history of all nodes in the network. To this end, each agent needs to comply with four processes to participate in the system, plus a fifth process for data transfer to the nearest nodes that is based on Received Signal Strength Indicator (RSSI) and data history. To validate this framework, we use differential robotic agents and a monitoring agent to generate a topological map of an environment with the presence of obstacles. View Full-Text
Keywords: communication; decentralization; distributed systems; multi-agent robotic systems communication; decentralization; distributed systems; multi-agent robotic systems
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Jiménez, A.C.; García-Díaz, V.; Bolaños, S. A Decentralized Framework for Multi-Agent Robotic Systems. Sensors 2018, 18, 417.

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