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IAS-8 Intelligent Autonomous Systems Amsterdam , March 10-12 . 2004 A robotic cleaning agency

This paper describes a robotic agency that has been conceived and studied to solve a real task: the goal is the cleaning of all the surfaces of restaurants, community kitchen and food preparation industrial environments. The cleaning system is composed of heterogeneous agents from three categories specifically oriented to: wall cleaning by low skilled robot, floor cleaning and wall cleaning robot service; maintenance to the robots and dynamic tasks re-planning unit. They have been designed and tested on virtual mock-ups. The agents have different control capabilities and co-ordinate their actions in order to reach the cleaning goal in the requested time constraints. The proposed control and decision making systems have been tested by simulation. A description of hardware and control system is given.