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题名: SociBuilder: A novel task-oriented swarm robotic system
作者: 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: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 48-53
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000380476200009
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17513
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Leng YQ,Zhang Y,Zhang W,et al. SociBuilder: A novel task-oriented swarm robotic system[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.
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