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题名: Algorithm for foraging and building task on a novel swarm robotic platform
作者: Leng YQ(冷雨泉) ; Zhang Y(张阳) ; He X(何旭) ; Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
会议名称: 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议日期: December 5-10, 2014
会议地点: Bali, Indonesia
会议主办者: Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
会议录: 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 2501-2506
收录类别: EI
ISBN号: 9781479973965
摘要: Foraging Task is a typical task on swarm robotic and Building Task (extend from blocks world) is widely used for testing performance of task planning in multi-robots. In this paper we combine foraging and building task as a new type task and implement on our swarm robotic system-SociBuilder. The platform is composed of three parts: active region, modules and many robots called Socibots. In order to execute the task automatically and effectively, we propose a new system architecture including three layers: human-computer interaction layer (HCI), planning layer and execution layer. For the same reason, we put forward a novel algorithm to adjust individual behavior dynamically. As a result of our experiments, Socibots use only local information and do not need communication with others in forage, and fewer individuals are centralized control for building task. The architecture and algorithm are effective in swarm robotics, which guide system to perform complex task with less burden.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16104
Appears in Collections:空间自动化技术研究室_会议论文

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