[1]石志国,王志良,刘冀伟.异构多机器人协作系统研究进展[J].智能系统学报,2009,4(05):377-391.[doi:10.3969/j.issn.1673-4785.2009.05.001]
 SHI Zhi-guo,WANG Zhi-liang,LIU Ji-wei.Developments in heterogeneous multi-robot cooperation systems[J].CAAI Transactions on Intelligent Systems,2009,4(05):377-391.[doi:10.3969/j.issn.1673-4785.2009.05.001]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第4卷
期数:
2009年05期
页码:
377-391
栏目:
出版日期:
2009-10-25

文章信息/Info

Title:
Developments in heterogeneous multi-robot cooperation systems
文章编号:
1673-4785(2009)05-0377-15
作者:
石志国王志良刘冀伟
北京科技大学信息工程学院,北京100083
Author(s):
SHI Zhi-guo WANG Zhi-liang LIU Ji-wei
School of Information Engineering, University of Science and Technology Beijing, Beijing 100083, China
关键词:
多机器人异构IGRS协议协作
Keywords:
multi-robot heterogeneous IGRS protocol cooperation
分类号:
TP12
DOI:
10.3969/j.issn.1673-4785.2009.05.001
文献标志码:
A
摘要:
异构多机器人系统可以发挥单一结构机器人在某个领域的优点而达到整体的最优配置,机器人的功能和接口协议对协作系统影响很大.IGRS协议是我国在信息设备协作领域中惟一的国际标准,为异构多机器人协作提供了有效的支持.对国内外相关研究进行系统地归纳和总结,找出需要解决的问题,并在课题组研制的多种机器人平台上,从3个方面阐述了基于IGRS协议的异构多机器人协作系统:异构机器人的定位、通信以及感知方案;异构机器人协商策略和分组方案;机器人的功能分类和规划,提出了细粒度可控的任务委托分配方案.
Abstract:
Heterogeneous multi-robot cooperation systems can create globally optimal configurations by taking full advantage of singlestructure robots in some areas. The capabilities and protocols available for robot interaction have significant effects on their ability to act cooperatively. The integrated GPS radio system (IGRS) protocol is an international standard used for positional data in China. It provides effective communication for heterogeneous multi-robot cooperation systems. The current research and development situation was systematically reviewed and summarized, allowing problems remaining to be solved to be outlined. On the basis of several robot platforms made by our research group, the advantages of heterogeneous multirobot cooperation systems based on the IGRS protocol were elaborated. This shows up in three areas: locating robots through an IGRS communication and spatial perception scheme; dynamic grouping and negotiation strategies; functional classification and planning. A scheme for grain control of the tasks of a principal-agent was then developed.

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备注/Memo

备注/Memo:
作者简介:
石志国,男,1978年生,博士、讲师.中国人工智能学会会员,中国计算机学会会员 (E20-0008616M),IGRS通用智能控制(GICP)技术小组成员,IGRS 智能设备互联(IAIP)技术小组成员.主要研究方向为协同计算、多机器人系统和可信技术.作为技术骨干参与完成国家高技术研究发展计划、国家自然科学基金、中国科学院重点项目以及横向课题多项.获图书奖2项.在国内外期刊和学术会议上发表学术论文12篇,其中被SCI收录1篇,EI收录8篇,出版编著5部.

王志良,男,1956 年生,博士、国家二级教授、博士生导师.享受国务院特殊津贴专家,北京科技大学电子信息系主任,中国人工智能学会人工心理与人工情感专业委员会主任,第一届国际情感计算和智能交互学术大会主席.主要研究方向为机器人技术、和谐人机交互理论与方法、人工心理和生物特征识别.近年来主持完成国家“863”计划、国家自然科学基金、国家科技攻关和国家“973”计划子项目等多项科研项目.发表学术论文180余篇,其中被SCI、EI检索60余篇,出版专著5部.

刘冀伟,男,1962年生,博士、副教授,北京科技大学信息工程学院自动化系副主任,IEEE会员,中国人工智能学会、人工心理与情感计算专业委员会理事.主要研究方向为机器人技术和图形图像处理.作为负责人与主要参与人员完成国家自然科学基金、国家“863”计划以及军工“863”计划多项科研项目.发表学术论文50余篇,其中被SCI、EI检索30余篇.
更新日期/Last Update: 2009-12-29