The Examples of Applications of the Agent Systems - A Perspective on Agent Systems - page 90

The model of expedition is mapped in cyberspace. In cyberspace there are also
other agents A g P 1 and A g P 2 which are specialized in getting robots through the
narrow gate. The agent A g entrusts the robot R to one of the agents specialized in
expedition ( A g P 1 ,Fig. 5.3 b).
The agent of expedition realizes in real-space an expedition of the robot R through
the narrow gate (Fig. 5.3 c).
After completing the task the agent of expedition A g P 1 returns the robot R
(in its control) to the agent A g which may continue performing further tasks it is
entrusted with.
The practical realization of the scenario of the robot's expedition through the
narrow gate was realized with the use of an appropriate system.
The system, through which the mobile robots are expedited, consists of a platform
on which the narrow gate was realized. The image of this platform, presented in the
real world, is transmitted with the use of a camera (after appropriate processing) to
the computer system which is responsible for the control of the movement of robots
on the platform. The control system transfers the right commands to robots with a
wireless connection (Fig. 5.4 ).
The control system is of agent character. The robots of real-space correspond to
the agents A g 1 and A g 2 in cyberspace. The model in cyberspace corresponding to
the narrow gate is complemented with an appropriate network, which allows agents
to plan non-collision routes of concurrent crossing of robots in real-space.
This network is a kind of graph in which the distance between the edges include the
measurements of real robots so that agents could lead appropriate robots at the same
time, without any collision. Using this network, the agents A g 1 and A g 2 negotiate the

cyberspace

the image
identification

Kalman filter

The control
algorithm

real-space

Fig. 5.4 The realization of the robot's expedition model through the narrow gate