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Task-oriented hierarchical control architecture for swarm robotic system
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)
Source PublicationNatural Computing
Indexed BySCI ; EI ; CPCI(ISTP)
EI Accession number20162102407911
WOS IDWOS:000415109600006
Contribution Rank1
KeywordHierarchical Control Architecture Selforganization Task-oriented Swarm Robotic System Socibuilder System
AbstractAn 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.
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Interdisciplinary Applications ; Computer Science, Theory & Methods
WOS Research AreaComputer Science
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Document Type期刊论文
Corresponding AuthorLeng YQ(冷雨泉)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China
2.University of Chinese Academy of Science, Beijing, 100000, China
3.Anhui Xinhe Defense Equipment Technology Corporation Limited, Hefei, 230000, China
Recommended Citation
GB/T 7714
Leng YQ,Yu C,Zhang W,et al. Task-oriented hierarchical control architecture for swarm robotic system[J]. Natural Computing,2017,16(4):579-596.
APA Leng YQ,Yu C,Zhang W,Zhang Y,He X,&Zhou WJ.(2017).Task-oriented hierarchical control architecture for swarm robotic system.Natural Computing,16(4),579-596.
MLA Leng YQ,et al."Task-oriented hierarchical control architecture for swarm robotic system".Natural Computing 16.4(2017):579-596.
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