Agents for polyergatic detection system of moving obstacles and control the movement of a mobile robot

P.V. Stepanov, I.A. Shcherbatov, O.M. Protalinskiy, P.P. Alekseev


Nowadays, there are many applications for autonomous mobile platforms. Some of them are useful as assistants to doctors in hospitals, airports, museums, as well as the detection and apprehension of criminals. There are several developments that involve the use of video surveillance to track people's robot. Typically, the camera is designed to detect persons of color or glare control object circuit. Other researchers suggest a laser range finder to get the data. At the same time, and is considered a hybrid approach in the works, which shows the visual information and data received from the laser.

The article presents a detailed specification methodology Prometheus, which is used to develop applications for mobile platforms, namely the detection and follow-up of a man on the basis of multi-agent approach principles.

Full Text:

PDF (Russian)


Fernández-Caballero, A., Gómez, F. J., & López-López, J. (2008). Road-traffic monitoring by knowledge-driven static and dynamic image analysis. Expert Systems with Applications, 35(3), 701–719.

Cucchiara, R. (2005). Multimedia surveillance systems. In The 3rd ACM international workshop on video surveillance and sensor networks (pp. 3–10).

Padgham, L., & Winikoff, M. (2004). Developing intelligent agents systems: A practical guide. John Wiley and Sons.

Huhns, M. N., & Stephens, L. M. (1999). Multiagent systems and societies of agents. In G. Weiss (Ed.), Multiagent systems. The MIT Press.

Pechoucek, M., Thompson, S. G., & Voos, H. (2008). Defense industry applications of autonomous agents and multiagent systems. Whitestein series in software agent technologies and autonomic computing. A Birkhäuser Basel book. ISBN 978-3-7643-8570-5.

d’Inverno, M., Fisher, M., Lomuscio, A., Luck, M., de Rijke, M., Ryan, M., et al. (1997). Formalisms for multi-agent systems. The Knowledge Engineering Review, 12, 315–321.

Pavón, J., Gómez-Sanz, J. J., Fernández-Caballero, A., & Valencia-Jiménez, J. J. (2007). Development of intelligent multi-sensor surveillance systems with agents. Robotics and Autonomous Systems, 55(12), 892–903.

Schlegel, C., Illmann, J., Jaberg, K., Schuster, M., & Wörz, R. (1998). Vision based person tracking with a mobile robot. In Ninth British machine vision conference, BMVC’98 (pp. 418–427).

Gockley, R., Forlizzi, J., & Simmons, R. (2007). Natural person following behavior for social robots. In ACM/IEEE international conference on human–robot interaction, HRI’07 (pp. 17–24).

Kobilarov, M., Hyams, J., Batavia, P., & Sukhatme, G. S. (2006). People tracking and following with mobile robot using an omnidirectional camera and a laser. In IEEE international conference on robotics and automation (pp. 557–562).

Zivkovic, Z., & Kröse, B. (2008). People detection using multiple sensors on a mobile robot. In Unifying perspectives in computational and robot vision (pp. 25–39). Springer.

Inamura, T., Shibata, T., Matsumoto, Y., Inaba, M., & Inoue, H. (1998). Finding and following a human based on on-line visual feature determination through discourse. In International conference on intelligent robots and systems, IROS’98 (pp. 348–353).

Chan, H. K., Ye, W., Lam, T.L., Ou, Y., & Xu, Y. (2005). Sensor system for a humanfollowing robot. In International conference on automation, control and applications (pp. 350–355).

Fernández-Caballero, A., López, M. T., Mira, J., Delgado, A. E., López-Valles, J. M., &Fernández, M. A. (2007). Modelling the stereovision-correspondence-analysis task by lateral inhibition in accumulative computation problem-solving method. Expert Systems with Applications, 33(4), 955–967.

Fernández-Caballero, A., López, M. T., & Saiz-Valverde, S. (2008). Dynamic stereoscopic selective visual attention (DSSVA): Integrating motion and shape with depth in video segmentation. Expert Systems with Applications, 34(2), 1394–1402.

Bordini, R. H., Dastani, M., & Winikoff, M. (2007). Current issues in multi-agent systems development. In Seventh annual international workshop on engineering societies in the agents world. Lecture notes in artificial intelligence (Vol. 4457, pp. 38–61).

Wooldridge, M., & Jennings, N. R. (1995). Intelligent agents: Theory and practice. The Knowledge Engineering Review, 10(2), 115–152.

Collinot, A., Drogoul, A., & Benhamou, P. (1996). Agent oriented design of a soccer robot team. In Second international conference on multi-agent systems, ICMAS’96 (pp. 41–47).

DeLoach, S., Matson, E., & Li, Y. (2002). Applying agent oriented software engineering to cooperative robotics. In Fifteenth international Florida artificial intelligence research society conference (pp. 391–396).

Cossentino, M., Sabatucci, L., & Chella, A. (2003). A possible approach to the development of robotic multi-agent systems. In IEEE/WIC conference on intelligent agent technology, IAT’03 (pp. 13–17).

Jiménez, J. A., Vallejo, M., & Ochoa, J. F. (2007). Methodology for the analysis and design of multi-agent robotic systems: MAD-Smart. Revista Avances en Sistemas e Informática, 4(2), 61–70.

Pavón, J., Gómez-Sanz, J. J., Fernández-Caballero, A., & Valencia-Jiménez, J. J. (2007). Development of intelligent multi-sensor surveillance systems with agents.Robotics and Autonomous Systems, 55(12), 892–903.

Thangarajah, J., Padgham, L., & Winikoff, M. (2005). Prometheus design tool. In Fourth international conference on autonomous agents and multi-agent systems (pp. 127–128).


  • There are currently no refbacks.

ISSN: 2307-8162