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题名: Negotiation and Cooperation in Distributed Control System of Reconfigurable Modular Robot
作者: Liu MY(刘明尧) ; Tan DL(谈大龙) ; Li B(李斌) ; Zhu T(朱涛)
作者部门: 机器人学研究室
会议名称: International Conference on Modeling and Simulation in distribution Applications
会议日期: September 25-27, 2001
会议地点: Changsha, China
会议录: Proceedings of the International Conference on Modeling and Simulation in distribution Applications
出版日期: 2001
页码: 378-382
ISBN号: 7-81024-781-6
关键词: multiagent ; cooperation reconfigurable modular manipulator ; negotiation ; system
摘要: According to multi-agent system theory and characteristics of the structural distribution of reconfigurable modular robots, we establish the multi-agent models for reconfigurable modular robot. Each joint module of reconfigurable modular robot is considered as an agent. Each agent can communicate with other agents so that the states of other agents can be obtained. Because the relations among agents are tightly coupled and each agent has no local subtask, agents need to coordinate their actions constantly in order to complete their tasks. We present an new negotiation and cooperation algorithm in the multi-agent based control systems. The basic idea of our method is that action effects of agents are forecasted using the conception of Jacobian matrix and differential motion, the total effects of several agents are calculated by adding their action effects that the agent acts singly, the set of cooperation agents is selected by the total effects. We present the method that forecasts the total cooperation effects in order to select cooperation. The orientation of 6-dimension vector that reflects the tasks is compared with the orientation of 6-dimension vector that reflects the effects. The orientation closeness between the two vectors is calculated.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9840
Appears in Collections:机器人学研究室_会议论文

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