A Fuzzy Multi-agent System for Secure Remote Control of a Mobile Guard Robot

This paper presents a secure multi-agent architecture running on a Web environment. It is directed at monitoring mobile robots used for surveillance in sensitive environments (nuclear plants, military grounds) and domotic applications in smart buildings. Our Guard Robots are semi-autonomous mobile robots providing video streams encrypted via wireless to existing watchguard systems on Internet. In our Web system the robot movement must be controlled in real time using a joystick while the robot's position is obtained using a Webcam carried by the robot. The problem arises because the used network is not time deterministic and the bandwidth is limited and evolves dynamically. Although the best image quality is desired, a low-resolution image can be enough to navigate and avoid obstacles. We suggest a solution focused on a multi-agent architecture in which agents have fuzzy controllers and provide the best image quality for the available bandwidth, CPU power, video size and cipher engine.