Control aspects of the blackboard agent architecture for a mobile robot

In the paper, the architecture of a mobile robot cooperating with other robots and some stationary devices in a task of collective perception and world modeling is considered. We present data-driven processing of information performed by an individual robot treated as an agent and we propose to organize it as a set of experts (also treated as agents) exchanging data by means of a blackboard. The roles of particular agents and the structure of the blackboard are described. We analyze the control aspects of the system and the form of control knowledge.