Doctor of Philosophy
Department of Computer Science
Jung, David, An architecture for cooperation among autonomous agents, Doctor of Philosophy thesis, Department of Computer Science, University of Wollongong, 1998. http://ro.uow.edu.au/theses/1291
This thesis develops the Architecture for Behaviour Based Agents (ABBA) - an architecture suitable for supporting the distributed planning of cooperative behaviour in multi-robot systems. ABBA was used to implement a concrete cooperative cleaning task using two mobile robots, both to drive the design requirements and as a demonstration of its efficacy. The cleaning task solution requires reactive and deliberative behaviour, purposive navigation by learning unknown environments, cooperation and communication.