A flexible and dynamic mobile robot localization approach

Abstract

[EN] The main goal of this paper is to provide an approach to solve the problem of localization in mobile robots using multi-agent systems. Usually, the robot localization problem is solved in static environments by the addition of the needed sensors in order to help the robot, but this is not useful in dynamic environments where the robot is moving through different rooms or areas. The novelty of this dynamic scenario is that each room is composed of external devices that can enter or exit the system in a dynamic way and report the position where the robot is. In this way, we propose a multi-agent system using the SPADE multi-agent technology platform to improve the location of mobile robots in dynamic scenarios. To do this, we are going to use some of the advantages offered by the SPADE platform such as presence notification and subscription protocols in order to design a friendship network between sensors/devices and the mobile robots.