Architecting Robotics and Automation Societies over Reusable Software Frameworks: the Case of the G++ Agent Platform

Franco Guidi-Polanco, Claudio Cubillos


This work presents a software framework that allows the implementation of societies made-up by autonomous collaborative devices. The framework is structured as a multi-layer reusable architecture, adopting the software agent as the design paradigm. In this paper, an overview of its main features is offered, and an example of its adoption in the design of a robot colony is provided.


Global Automation, Robots colony, Agent Architecture, Agent- Based Framework

Full Text:



AgentLink. Software Products for MultiAgent Systems. Technical Report. Europe's Network of Excellence for Agent-Based Computing, 2002.

F. Bellifemine, A. Poggi, G. Rimassa. Jade, a FIPA-Compliant Agent Framework. Proceedings of the 4th Int. Conference on Practical Applications of Intelligent Agents and Multi- Agent Technology, 1999.

P. Eugster, P. Felber, R. Guerraoui, A. Kermarrec. The Many Faces of Publish/Subscribe. ACM Computing Surveys, Vol. 35, No. 2 (June 2003), p. 114-131.

T. Finin, D. McKay, R. Fritzson, R. McEntire. KQML: An Information and Knowledge Exchange Protocol.Proceedings of the Int. Conference on Building and Sharing of Very Large- Scale Kniowledge Bases, December 1993.

FIPA (2002). FIPA ACL Message Structure Specification. Standard N. SC00061G, December 2002.

M. Genesereth, S. Ketchpel. Software Agents. Communications of the ACM, Vol 37, No. 7, 1994, p. 48-53.

F. Guidi-Polanco, C. Cubillos, G. Menga. The Agent-Based GAP: A Framework for Global Automation Systems, Proceedings of the 13th IEEE International Workshops on Enabling Technologies: Infrastructure for Collaborative Enterprises, p.53-58, June 14-16, 2004

Z. Haibin. A Role-Based Approach to Robot Agent Team Design. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics SMC, 2006. Vol.6 pp.4861-4866, October 2006.

N. Jennings. An Agent-Based Approach for Building Complex Software Systems. Communications of the ACM, Vol 55 No. 4 (April 2001), p. 35-41.

L. Jianhui, W. Kesheng, G. Hang, Q. Ligang. An OOT-supported migration approach to holonic robot assembly cell. Proceedings of the 8th Int. Conference on Computer Supported Cooperative Work in Design, 2004. Vol.2 pp. 498-501.

C. Lim, R. Mamat, T. Braunl. Market-based approach for multi-team robot cooperation. 4th International Conference on Autonomous Robots and Agents, ICARA 2009, pp.62-67, Feb. 2009.

D. Mamady, G. Tan, M. Toure. An artificial immune system based multi-agent model and its application to robot cooperation problem. Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA 2008, pp.3033-3039, June 2008.

G. Moro, A. Natali. On the Event Coordination in Multi-Component Systems. Proceedings of SEKE 2002, Ischia, Italy.

J. Odell, H. Van Dyke Parunak, B. Bauer. Extending UML for Agents. Proceedings of the Agent-Oriented Information Systems Workshop at the 17th National Conference on Artificial Intelligence 2000.

T. Rogers, A. Sekmen, J. Peng. Attention Mechanisms for Social Engagements of Robots with Multiple People. The 15th IEEE International Symposium on Robot and Human Interactive Communication, ROMAN 2006, pp.605-610, Sept. 2006.

M. Sims, D. Corkill, V. Lesser. Separating Domain and Coordination in Multi-Agent Organizational Design and Instantiation, Proceedings of the International Conference on Intelligent Agent Technology, IAT 2004.

P. Valckenaers, H. Van Brussel, T. Holvoet. Fundamentals of Holonic Systems and Their Implications for Self-Adaptive and Self-Organizing Systems. Proceedings of the Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW 2008., pp.168-173, Oct. 2008.

G. Weiss. Multiagent Systems: A Modern Approach to Distributed Artificial Intelligence. MIT Press, Cambridge, Massachusetts, 1999

D. Weyns, M. Schumacher, A. Ricci, M. Viroli, T. Holvoet. Environments for multiagent systems, State-of-the-art and research challenges. In Lecture Notes in Computer Science, vol 3374 (2005), Berlin, Heidelberg, Germany.


Copyright (c) 2017 Franco Guidi-Polanco, Claudio Cubillos

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2018: IF=1.585..

IJCCC is indexed in Scopus from 2008 (CiteScore2018 = 1.56):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.


 Impact Factor in JCR2018 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.585 (Q3). Scopus: CiteScore2018=1.56 (Q2);

SCImago Journal & Country Rank

Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.