Behaviour of Multiagent System with Defined Goal
Jana Púchyová · 2013
The subject of this work is the area of multiagent and multirobot systems focusing on their behaviour in the eld of terrain exploration. The main goal is to design the multirobot system which is able to complete exploration task with the possibility of any robot failure. The proposed techniques consider the inaccuracies and errors arising in the system. In paper is described the design, as well as the verication of marking coverage algorithm with shortened return for speeding up of enviroment coverage. The next part veries behaviour of multirobot system with use of diferent level of information fusion. Created conclusions about system composition and the way of cooperative information processing provides basic starting points for experiments, that verify cooperative behaviour of multirobot system and its resistance against inaccuracies and failures of robots. The task was experimentally veried on target localization during the exploration, while for error estimation the theory of probabilistic robotics is used. The errors were suppressed using technique of cooperation, Extended Kalman lter (EKF), Particle lter (PF) and Particle