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SociBuilder: A novel task-oriented swarm robotic system
Leng YQ(冷雨泉); Zhang Y(张阳); Zhang W(张伟); He X(何旭)
作者部门空间自动化技术研究室
会议名称2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期December 6-9, 2015
会议地点Zhuhai, China
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码48-53
收录类别EI ; CPCI(ISTP)
EI收录号20161802327983
WOS记录号WOS:000380476200009
产权排序1
ISBN号978-1-4673-9674-5
摘要This paper presents a novel concept of swarm robots, which mostly emphasizes on organization structure, rather than merely the quantity. A novel task-oriented swarmrobotic system (SociBuilder system) that is self-reconfigurable and supports self-assembly is introduced. The system simulates human labor division and social organization structure, thus it could represent human construction activities. SociBuilder System mainly consists of four parts: active region, socibots, warehouses and modules. Moreover, we propose a novel swarm system hierarchy, which includes three layers: human-computer interaction (HCI) layer, task planning layer and execution layer. In the planning layer, we designe eight parts to actualize task-oriented mechanism, which are visual task analysis, task decomposition, task allocation, self-organization structure, action planning, expansion mechanism, sensor data analysis and derated analysis respectively. Besides, we displayed structures of Socibots and docking mechanism for self-assembly and self-reconfiguration in detail. Finally, three scenario simulations are implemented successfully including self-assembly task, cooperative task and building task.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17513
专题空间自动化技术研究室
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, University of Chinese Academy of Science, Shenyang, LN 110016, China
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GB/T 7714
Leng YQ,Zhang Y,Zhang W,et al. SociBuilder: A novel task-oriented swarm robotic system[C]. Piscataway, NJ, USA:IEEE,2015:48-53.
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