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The architecture design of the multirobot team formation
Wang XC(王醒策); Gu GC(顾国昌); Zhang RB(张汝波); Song MP(宋梅萍)
作者部门机器人学研究室
会议名称IEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
会议日期August 22-26, 2004
会议地点Shenyang, China
会议主办者IEEE Robotics and Automation Society; IEEE HK RA/CS Joint Chapter; Chinese Academy of Sciences; Chinese High-tech Development Program; Robotics Society of Japan
会议录名称Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
出版者IEEE
出版地NEW YORK
2004
页码649-653
收录类别EI
EI收录号2005499531997
产权排序2
ISBN号0-7803-8641-8
关键词Multirobot Multiagent System Architecture Plan
摘要The layered control architecture is designed for the need of the multirobot intelligent team formation. There are three levels : the cooperation task level , the coordination behavior level and the action planning level .The cooperation task level is used the potential grid method , which improves the safety of the path and reduces the calculation complexity. The coordination behavior level is used the reinforcement learning which strengthen the robots' intelligence. The action planning level is used the fuzzy planning methods to realize the action matching. The communication model transfer the message in different level. This architecture shows not only the independence and the intelligence of the single robot but also the cooperation and the coordination among the robots. In each level, the task is distributed reasonably and clearly. At last the feasibility of the architecture is verified further in the simulation of the experiment. The expansibility of the architecture is good and the architecture can be used in the similar system.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18655
专题机器人学研究室
作者单位1.College of Computer Science and Technology, Harbin Engineering University, Harbin, China;
2.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
推荐引用方式
GB/T 7714
Wang XC,Gu GC,Zhang RB,et al. The architecture design of the multirobot team formation[C]//IEEE Robotics and Automation Society; IEEE HK RA/CS Joint Chapter; Chinese Academy of Sciences; Chinese High-tech Development Program; Robotics Society of Japan. NEW YORK:IEEE,2004:649-653.
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