Coordination of ROS Robots with BDI Agents and MOISE

• Pedro Henrique Dias UFSC
• Maiquel de Brito UFSC

DOI: https://doi.org/10.5753/wesaac.2023.33438

Abstract

ROS (Robotic Operating System) is a set of libraries, tools and standards that aim to simplify the development of robots. However, ROS does not contain features to handle the coordination of multiple autonomous robots. On the other hand, coordination of autonomous entities is a subject of research and development in the area of Multi-Agent Systems. In this context, this article proposes the integration between concepts and tools of multiagent programming and the ROS platform to enable coordination of robots. For such, it is presented a case of control of simulated robots that need to act in a coordinated way to solve different problems. The solution is experimentally evaluated, verifying to what extent the it allows both the specification of coordination between ROS robots and the effective coordinated action of these robots according to such specification.

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