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题名: Task-oriented hierarchical control architecture for swarm robotic system
作者: Leng YQ(冷雨泉); Yu C(余岑); Zhang W(张伟); 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
关键词: Hierarchical control architecture ; Selforganization ; Task-oriented ; Swarm robotic system ; SociBuilder system
刊名: Natural Computing
ISSN号: 1567-7818
出版日期: 2016
页码: 1-18
收录类别: EI
产权排序: 1
摘要: An increasing number of robotic systems involving lots of robotic individuals are used to serve human, such as intelligent terminal, intelligent storage, intelligence factories, etc. It is a trend of robotics technology that robotics system will become huger with more individuals. In these systems, they form the robotic societies and need establish some computing rules and mechanisms to ensure the operation like all biological social systems. In this paper, a novel system architecture for swarm robotic system, including three layers: human–computer interaction layer, planning layer and execution layer, is put forward, which is effective for task-oriented swarm robotic system. Then, a hierarchical organizational model for the system is presented, which is used to establish management relationship between different layers and individuals. Because task-oriented characteristic is required, this paper elaborates task description knowledge to explain the relationship between tasks for task decomposition and task logic. In addition, a method of behavior generation based on proposition/transition Petri networks is designed, which would effectively assist the system to construct combined behavior using simple individual behavior to solve a variety of tasks. At last, Illustration is shown to prove effectiveness and an implementation of the method based on SociBuilder system is introduced.
语种: 英语
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18667
Appears in Collections:空间自动化技术研究室_期刊论文

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Recommended Citation:
Leng YQ,Yu C,Zhang W,et al. Task-oriented hierarchical control architecture for swarm robotic system[J]. Natural Computing,2016:1-18.
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文件名: Task-oriented hierarchical control architecture for swarm robotic system.pdf
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