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A Novel Framework for Multi-Agent Systems Using a Decentralized Strategy

Published online by Cambridge University Press:  04 December 2018

Mehmet Serdar Güzel ,
Vahid Babaei Ajabshir ,
Panus Nattharith ,
Emir Cem Gezer  and
Serhat Can
Mehmet Serdar Güzel*
Affiliation:
Computer Engineering Department, Ankara University, Ankara, Turkey. E-mails: vahid.babaei@ankara.edu.tr, emir.cem.gezer@ogrenci.ankara.edu.tr, serhat.can@ogrenci.ankara.edu.tr
Vahid Babaei Ajabshir
Affiliation:
Computer Engineering Department, Ankara University, Ankara, Turkey. E-mails: vahid.babaei@ankara.edu.tr, emir.cem.gezer@ogrenci.ankara.edu.tr, serhat.can@ogrenci.ankara.edu.tr
Panus Nattharith
Affiliation:
Faculty of Engineering, Naresuan University, Phitsanulok 65000, Thailand. E-mail: panusn@nu.ac.th
Emir Cem Gezer
Affiliation:
Computer Engineering Department, Ankara University, Ankara, Turkey. E-mails: vahid.babaei@ankara.edu.tr, emir.cem.gezer@ogrenci.ankara.edu.tr, serhat.can@ogrenci.ankara.edu.tr
Serhat Can
Affiliation:
Computer Engineering Department, Ankara University, Ankara, Turkey. E-mails: vahid.babaei@ankara.edu.tr, emir.cem.gezer@ogrenci.ankara.edu.tr, serhat.can@ogrenci.ankara.edu.tr
*
*Corresponding author. E-mail: mguzel@ankara.edu.tr
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Summary

This work addresses a new framework that proposes a decentralized strategy for collective and collaborative behaviours of multi-agent systems. This framework includes a new clustering behaviour that causes agents in the swarm to agree on attending a group and allocating a leader for each group, in a decentralized and local manner. The leader of each group employs a vision-based goal detection algorithm to find and acquire the goal in a cluttered environment. As soon as the leader starts moving, each member is enabled to move in the same direction by staying coordinated with the leader and maintaining the desired formation pattern. In addition, an exploration algorithm is designed and integrated into the framework so as to allow each group to be able to explore goals in a collaborative and efficient manner. A series of comprehensive experiments are conducted in order to verify the overall performance of the proposed framework.

Keywords

Multi-agent systemsDecentralized architectureVision for navigationSwarm intelligencePattern formation.
Type
Articles
Information
Robotica , Volume 37 , Issue 4 , April 2019 , pp. 691 - 707
Copyright
Copyright © Cambridge University Press 2018 

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