%0 Journal Article
	%A H. Ifassiouen and  H. Medromi and  N. E. Radhy
	%D 2007
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 2, 2007
	%T  Distributed Architecture of an Autonomous Four Rotor Mini-Rotorcraft based on Multi-Agent System 
	%U https://publications.waset.org/pdf/2173
	%V 2
	%X In this paper, we present the recently implemented approach allowing dynamics systems to plan its actions, taking into account the environment perception changes, and to control their execution when uncertainty and incomplete knowledge are the major characteristics of the situated environment [1],[2],[3],[4]. The control distributed architecture has three modules and the approach is related to hierarchical planning: the plan produced by the planner is further refined at the control layer that in turn supervises its execution by a functional level. We propose a new intelligent distributed architecture constituted by: Multi-Agent subsystem of the sensor, of the interpretation and representation of environment [9], of the dynamic localization and of the action. We tested this distributed architecture with dynamic system in the known environment. The autonomous for Rotor Mini Rotorcraft task is described by the primitive actions. The distributed controlbased on multi-agent system is in charge of achieving each task in the best possible way taking into account the context and sensory feedback.

	%P 69 - 74