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It is a fundamental concern for the robot research community to explore unknown environments. This paper presents an approach for controlling multi-cooperative robot exploration in an unknown environment. In order to control multiple robots, we take advantage of multiple mobile agents. In this paper, we report our experience in implementing a mobile multi-agent system written in Python 2. We chose Python because it is easy to read and write, and has a rich library. To construct an efficient search algorithm for multiple mobile robots, we employ an extended particle swarm optimization (PSO) for the robot control algorithm. This algorithm allows robots to avoid obstacles while utilizing the PSO as a basic search algorithm. To demonstrate the feasibility of this research, we implemented an agent platform in Python 2, along with a team of mobile robots controlled by a team of mobile agents on this platform. The imaginary application is a search and rescue operation after disaster in an urban area. We believe that the combination of mobile agents and mobile robots contributes lifesaving applications.

Mobile Agents for Robot Control based on PSO