Agent-based Software Integration for a Mobile Manipulator *

Abstract – Mobile manipulation involves mobility and manipulation. For the design of a suitable framework for mobile manipulation it is essential to consider the characteristics of the two systems that constitute the mobile manipulator, the mobile base and the manipulator. The framework should maintain the inherent characteristics for each of the two sub-systems, while at the same time provide a basis for cooperation. In this article, we present a framework suitable for the operation of a mobile manipulator. Such framework is an extension of the Acromovi agent-based architecture. In this framework, the characteristics of each sub-system are preserved, whereas the cooperation is provided by the multiagent system. Also, the framework lets the access to the accessories mounted on each sub-system, thus it is possible to access to the stereo of the arm or to the sonars of the base, making possible the coordination of all the elements to perform a certain task