FAULT TOLERANT ARCHITECTURE FOR INTERNET ROBOT USING

MOBILE AGENT
 OUT LINE

1. INTRODUCTION
2. MOBILE AGENT
3. MOBILE AGENTS SYSTEM
4. MULTIPLE ROBOT SYSTEM
5. CONTROL AND
ARCHITECTURE
6. PLATFORM
7. IMPLEMENTATION
8. CONCLUSION
 INTRODUCTION

Use of Internet in robot system.

Constrained by
+ limited bandwidth.
+ transmission delay.
+ potential data loss.

Fault Tolerance Issues.

Mobile agent for Fault Tolerant

MOBILE AGENT

Software object

Autonomous

Goal driven

Transfer across
network.
MOBILE AGENT (CONT)

Operate within execution environment,

can be programmed.
Java programming.
Can operate on Agents Platform.
Place
Characteristics :
+ Operate asynchronously.
+ Execution environment
+ Clone themselves.
 MOBILE AGENTS SYSTEM

Platform Based Mobile Agents system :

+ Need to see agents platform.
+ User sends control and data filtering agents.
+ One controls the robot ,other filters the data form robot.
+ Reduces the network communication.

Application centric mobile agents system :

+ Places are created at robot or server site.
+ User sends commands.
+ Use of Client/Server model.
+ Agents can use the commands
+ User needs Standard Web Browser to control robot.
+ Role of Mobile agent to generate fault tolerance.
 MULTIPLE ROBOT SYSTEM
Use of heterogeneous platform.
Each robot has its own unique control program.
Mobile agents characteristics would aid in overcoming delay and
failure in Internet WAN connection in multiple robot system.
Use mobile agent to handle unexpected situation.
 CONTROL AND ARCHITECTURE

Three levels of control :

a) lower level of control :
+ Direct level of control & low delay occurs in an event .
+ Shifts intelligence from robot to user.
+ Control commands are directly given to the robot through robot agent.
b) Higher level of control :
+ Coordinate level of control & higher delay occurs in an event.
+ Shifts the intelligence from user to robot.
+ A control loop is maintain between robot,robot agent,& coordinate agent.
c) Behavior based control :
+ Behavior agents store the list of high level behaviors submitted by user.
+ the behavior agents are responsible for submitting the commands to robot.
+ Provides full autonomy.
 CONTROL AND ARCHITECTURE (CONT)

Mobile agents Internet robot architecture :

1) Client/Server component :
+ Communication agent can monitor delay between client and server.
+ It can distribute command to the robots.
 CONTROL AND ARCHITECTURE (CONT)
2) Server/Robot component :
+ Robot agent : command communication between robot and server.

+ Coordinate agent : performs coordinate actions.

+ Command agent : to generate fault tolerant in the system.
+ Data agent : store feedback data .

Blackboard : stores the command for

robot agent,sends command
to each robot and wait for
response,and sends response to user.
 PLATFORM

Robot Simulator :
+ TeamBoat robot simulator is used.
+ Java based simulator,allows simulation of multiple robots.
+ Each robot has its unique control program.
+ Use of TCP/IP protocol.
+ Each robot recognize existence of other robot.

Agent Platform:
+ Grassophore 2 agent simulator is used.
+ Java programming for both static and dynamic agents.
+ Provides developer with build in function for mobile creation, manipulation
and customizing behavior of mobile agents.
+ Build in functions allows cloning of agents over Grassophore 2 computers,
store agents to hard drive.
PLATFORM CONTINUE

Three parts of system :

1. Robot
simulator

2. Agent platform

3. User interface
 BIBLIOGRAPHY

[1] D. Estrin, R. Govindan, J. Heidemann. "Embedding the Internet:

Introduction, Communications of ACM, May, 2000.

[2] H. Hu, L. Yu, P.W. Tsui, Q. Zhou, Internet-Based Robotic Systems

for Teleoperation, Int. J. of Assembly Automation, Vol. 21, No. 2,
2001.

[3] Liam Cragg, Huosheng Hu. Building a Fault Tolerant Architecture

For Internet Robots Using Mobile Agent, University Of Essex, May
2003.

[4] J. Baumann, Mobile Agents: Control Algorithms,LNCS, Vol. 1658,

Springer, June 2000.

[8] TeamBots, TeamBots-Homepage, World Wide Web,

http://www.teambots.org/, Jan, 2003
[9] IKV++ Technologies AG, Grasshopper 2 -HomePage,
http://www.grasshopper.de/, Jan 2003.
 IMPEMENTATION

Select an agent platform

+ Grassophore 2 as agent platform.
Select a robot platform
+ TeamBoat as robot platform.
Link agent and robot platform
+ Link two platforms.
Develop mobile agent and control architecture
+ Create multiple agent,implement software configuration.
Conduct experiment
+ Results are recorded and analyzed,to draw conclusion
CONCLUSION

Using
the positive
characteristics of
mobile agents we can
produce an effective
fault tolerant multiple
robot system.
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