A layered architecture using schematic plans for controlling mobile robots

Abstract

Robotic soccer is a way of putting different developments in intelligent agents into practice, including not only problems such as multi-agent planning and coordination, but also physical problems related to vision and communication subsystems. In this work, we present the design used as the basis for a multi-agent system, implemented for controlling a team of robots, having as main goal to facilitate the testing of new theories developed on reasoning, knowledge representation, planning, agent communication, among others Artificial Intelligence techniques. The implementation of the system was carried out following a three-layer architecture which consists of a reactive layer, an executive layer and a deliberative layer, each of which is associated with a different level of abstraction. This layered design allows to construct a functional system with basic services that can be tested and refined progressively. We will focus our explanation on the executive layer, responsible for sensorial processing and the execution of schematic plans.