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cyberspace
Ag2
Ag1
real-space
Fig. 5.5
The method of realization of the agent algorithm of robot's expedition
routes of robots so that (if possible) leading the corresponding robots in real-space
would be parallel (Fig.
5.5
).
After planning and agreeing on the routes, the agents realize the relocation of
robots through the narrow gate in real-space.
5.1.3 The Agent System Managing Mobile Robots
for Waste Disposal
The system intended for the management of a group of mobile robots meant for
emptying bins in the urban environment is an example of the application of agents
acting in cyberspace.
Let us consider this urban environment which consists of the elements listed
below, which are managed according to the following rules (Fig.
5.6
):
a network of street with crossroads,
litter bins placed in certain places (streets or crossroads),
bins are filled with waste with unknown intensity (impossible to predict),
each bin has a sensor which may transmit the level to which the bin is filled to the
computer system (operating in cyberspace),
a certain number of mobile robots, which are responsible for emptying the bins,
circulates in the streets,
bins should be emptied if they are filled to some level (excluding empty or nearly
empty bins),
however, bins should be emptied with such frequency so as not to let them be
overfilled,
