Fuzzy and neuro-fuzzy based co-operative mobile robots

This paper focuses on the development of intelligent multi-agent robot teams that are capable of acting autonomously and of collaborating in a dynamic environment to achieve team objectives. A biologically-inspired collective behaviour for a team of co-operating robots is proposed. A modification of the subsumption architecture is proposed for implementing the control of the individual robots. The paper also proposes a fuzzy logic technique to enable the resolution of conflicts between contradictory behaviours within each robot. Furthermore, the paper proposes a neuro-fuzzy based adaptive action selection architecture that enables team of robot agents to achieve adaptive cooperative control to perform two proof-of-concept co-operative tasks: dynamic target tracking and box-pushing. Simulated and real experiments have been conducted to validate the proposed techniques