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This paper aims to present the Multi-Agent System to Control and Coordinate teAmworking Robots (MAS2CAR), a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers two main layers: (i) the Control Layer and we focus on (ii) the Coordination Layer. The control module is responsible for a part of the decision making process while taking into account robot’s structural constraints. Despite this autonomy possibility, the Coordination Layer manages the robots in order to bring cooperative behavior and to allow team-work. In this paper we present a scenario validating our approach based upon the multi-agent systems (MAS). Thanks to its reliability we have chosen the M OISEInst organizational model and we will present how it can be used for this use-case. Moreover, regarding to the implementation part, we have retained U TOPIA, a framework which automatically build a MAS thanks to a M OISEInst specification.

MAS2CAR ARCHITECTURE - Multi-agent System to Control and Coordinate teAmworking Robots