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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)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
Conference DateAugust 22-26, 2004
Conference PlaceShenyang, China
Author of SourceIEEE Robotics and Automation Society; IEEE HK RA/CS Joint Chapter; Chinese Academy of Sciences; Chinese High-tech Development Program; Robotics Society of Japan
Source PublicationProceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004
PublisherIEEE
Publication PlaceNEW YORK
2004
Pages649-653
Indexed ByEI
EI Accession number2005499531997
Contribution Rank2
ISBN0-7803-8641-8
KeywordMultirobot Multiagent System Architecture Plan
AbstractThe 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18655
Collection机器人学研究室
Affiliation1.College of Computer Science and Technology, Harbin Engineering University, Harbin, China;
2.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
Recommended Citation
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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