Bdi system for the cooperative and concurrent control of robotic devices

A system implementing a concurrent multi-agent BDI architecture to control robotic devices in real time reproducing a series of events defined by a user, the system comprising:

• one or more executing BDI agents including:
• a beliefs module including one or more registers storing:
• a computational model in the form of a graph representing the series of events and the execution status of the graph;
• the BDI state representing the agent's desires and intentions;
• the status of the robotic device, which stores information on actions carried out by the robotic device;
• a world model including the positions of robotic devices or other objects and a map of the work area;
• a sensor processor module that from the sensory information allows generating information to update the world model and the state of the robotic device;
• a BDI engine module in charge of managing agent's goals to decide which ones become intensions;
• actions that an executing agent must execute are associated with plans allowing goals been activated as intentions to be met.
• a cooperation module configured to communicate different executing BDI agents with each other, allowing to update their beliefs, coordinate the execution of the graph, update the execution state of the graph, and generate interaction signals for synchronization with other executing agents;
• an action module, depending on the beliefs of the executing BDI agent, concurrently and in real time controls one or more actuators of the robotic device;
• and supports its operation in the function of the mapping model of actions and emotions;
• a principal BDI agent including:
• a descripting module containing one or more registers storing:
• an additional instance of the graph of the series of events;
• a model of the execution state of the series of events;
• an executor configuration module sending control and configuration signals to the one or more executing BDI agents to configure and update their registers based on the state of the graph stored in the one or more registers;
• an execution manager module sending to the one or more executing BDI agents activation signals indicating which is the execution status of the graph, that is, if it is paused, stopped or about to restart;
• an interpreting BDI agent including:
• an authoring module having a user interface wherein a user of the system specifies the series of events;
• a translation module translating the series of events to the graph which can be interpreted by other BDI agents of the system;
• a set of communication channels interconnecting BDI agents allowing there to be concurrent communication between them;
• wherein:
• the graph defines actions that the executing BDI agent must execute, the moment they must be executed, their synchronization timing dependencies and synchronization points allowing two or more executing BDI agents to synchronize their execution state;
• the series of events represented by the graph is executed considering that there may be parallelism between actions executed by different executing BDI agents or between different actions executed by the same executing BDI agent;
• the beliefs are updated, including the execution status of the graph according to the information received from other executing agents processed by the cooperation module and the activation signals that the director BDI agent sends to the one or more executing BDI agents.