Multirobot systems address an increasing number of different applications. However, a general assessed methodology for designing and developing the cooperation structure of these systems is still lacking. In this paper we present one of such methodologies, called dynamic agency, which is strongly based on a novel distributed production system, called DCLIPS, that acts an infrastructure for inferential code mobility. The adoption of mobile code promotes ease and flexibility in developing and managing the cooperation structure of rnultirobot systems. We have experimentally tested our methodology by building a rnultirobot system that maps unknown environments.
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