[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(5):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(5):377-391.[doi:10.3969/j.issn.1673-4785.2009.05.001]
点击复制
SHI Zhi-guo,WANG Zhi-liang,LIU Ji-wei.Developments in heterogeneous multi-robot cooperation systems[J].CAAI Transactions on Intelligent Systems,2009,4(5):377-391.[doi:10.3969/j.issn.1673-4785.2009.05.001]
异构多机器人协作系统研究进展
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
4
期数:
2009年第5期
页码:
377-391
栏目:
综述
出版日期:
2009-10-25
- Title:
- Developments in heterogeneous multi-robot cooperation systems
- 文章编号:
- 1673-4785(2009)05-0377-15
- Keywords:
- multi-robot; heterogeneous; IGRS protocol; cooperation
- 分类号:
- TP12
- 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 singlestructure 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 multirobot 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.
- 参考文献/References:
-
［1］ARAI T, PAGELLO E, PARKER L. Advances in multirobot systems［J］. IEEE Transactions on Robotics and Automation, 2002, 18(5): 655-661.
［2］原?? 魁, 李?? 园, 房立新. 多移动机器人系统研究发展近况［J］. 自动化学报, 2007, 33(8): 785-795.
?YUAN Kui, LI Yuan, FANG Lixin. Multiple mobile robot systems: a survey of recent work［J］. Acta Automatica? Sinica, 2007, 33(8): 785-795.
［3］谭?? 民, 王?? 硕, 曹志强. 多机器人系统［M］. 北京: 清华大学出版社, 2005.
［4］TUCI E， GROβ R, TRIANNI V, et al. Cooperation through selfassembly in multi-robot systems［J］. ACM Transactions on Autonomous and Adaptive Systems, 2006, 1(2): 115-150.
［5］董炀斌. 多机器人系统的协作研究［D］. 杭州: 浙江大学, 2006.
DONG Yangbin. A study on multi-robot cooperation［D］. Hangzhou: Zhejiang University, 2006.
［6］PARKER L, KANNAN B, TANG F, et al. Tightly-coupled navigation assistance in heterogeneous multi-robot teams［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Sendai, Japan, 2004: 1016-1022.
［7］胡旭东. 基于网络的异构工业机器人集成技术研究［D］. 杭州: 浙江大学, 2004.
?HU Xudong. Study of the webbased integration of heterogeneous robotic manipulators［D］. Hangzhou: Zhejiang University, 2004.
［8］BALCH T, PARKER L E. Special issue on heterogeneous multi-robot systems［J］. Autonomous Robots, 2000, 8(5): 207-208.
［9］DAVID J, ALEXANDER Z. Grounded symbolic communication between heterogeneous cooperating robots［J］. Autonomous Robots, 2000, 8(3): 269-292.
［10］IGRS Organization. IGRS protocol［EB/OL］. ［2009-01-23］. http://www.igrs.org.
［11］ISO Organization. IGRS protocol［EB/OL］. ［2009-01-23］. http://www.iso.org.〖ZK)〗
［12］LEBLANC K, SAFFIOTTI A. Cooperative anchoring in heterogeneous multi-robot systems［C］//IEEE International Conference on Robotics and Automation (ICRA). Pasadena, USA, 2008: 3308-3314.
［13］BOONPINON N, SUDSANG A. Constrained coverage for heterogeneous multi-robot team［C］//IEEE International Conference on Robotics and Biomimetics. Sanya, China, 2007: 799-804.
［14］PUGH J, MARTINOLI A. Parallel learning in heterogeneous multi-robot swarms［C］//IEEE Congress on Evolutionary Computation. Singapore, 2007: 3839-3846.?
［15］范?? 波. 基于Agent的多机器人信息融合与协调研究［D］.西安： 西北工业大学， 2004.
FAN Bo. A study of multi-robot information fusion and coordination based on Agent［D］. Xi’an: North Western Polytechnical University, 2004.
［16］崔修涛. 支持位置感知的协作环境及其关键技术研究［D］. 上海: 华东师范大学, 2008.
CUI Xiutao. Research on location awareness supported collaborative work environment and key issues［D］. Shanghai: East China Normal University, 2008.
［17］ROBERT G, LUIS E, NAVARRO S, et al. Heterogeneous teams of modular robots for mapping and exploration［J］. Autonomous Robots, 2000, 8(3): 293-308.
［18］KIAN H L, LEOW W K, ANG M H. Autonomic mobile sensor network with selfcoordinated task allocation and execution［J］. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, 2006, 36 (3): 315-327.
［19］柳?? 林. 多机器人系统任务分配及编队控制研究［D］. 长沙: 国防科学技术大学, 2006.
LIU Lin. Research on multi-robot system task allocation and formation control［D］. Changsha: National University of Defense Technology, 2006.
［20］STROUPE A, HUNTSBERGER T, OKON A, et al. Behavior-based multirobot collaboration for autonomous construction tasks［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Alberta, Canada, 2005: 1495-1500.
［21］ARAI T, PAGELLO E, PARKER L E. Guest editorial: Advances in multi-robot systems［J］. IEEE Transactions on Robotics and Automation, 2002, 18(5): 655-661.
［22］PARKER L. Heterogeneous multi-robot cooperation［D］. Cambridge, USA: Massachusetts Institute of Technology, 1994.
［23］ASAMA H, OZAKI K, MATSUMOTO A, et al. Development of task assignment system using communication for multiple autonomous robots［J］. Journal of Robotics and Mechatronics, 1992, 4(2): 122-127.
［24］祖丽楠. 多机器人系统自主协作控制与强化学习研究［D］. 长春: 吉林大学, 2006.
?ZU Linan. Study on autonomous cooperation control and reinforcement learning for multirobot systems［D］. Changchun: Jilin University, 2006.
［25］KANNAN B, PARKER L. Metrics for quantifying system performance in intelligent, fault-tolerant multi-robot teams［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). San Diego, USA, 2007: 951-958.
［26］陈余庆. 多移动机器人的协作运动控制研究［D］. 大连: 大连理工大学, 2006.
CHEN Yuqing. Research on the cooperative motion control of multiple mobile robots［D］. Dalian: Dalian University of Technology, 2006.
?［27］程?? 磊. 多移动机器人协调控制系统的研究与实现［D］. 武汉: 华中科技大学， 2005.
CHENG Lei. Research and implementation on multiple mobile robots coordination control system［D］. Wuhan: Huazhong University of Science and Technology, 2005.
［28］陈忠泽. 基于MAS的多机器人协作系统若干问题的研究［D］. 上海: 上海交通大学, 2001.
CHEN Zhongze. Study on several issues of cooperative robotics which is based on MAS(multi-Agent system)［D］. Shanghai: Shanghai Jiao Tong University, 2001.
［29］PARKER L E. The effect of heterogeneity in teams of 100+ mobile robots［M］//SCHULTZ A, PARKER L E, SCHNEIDER F. Multi-robot systems: from swarms to intelligent automata, VolumeⅡ. Berlin: Kluwer, 2003: 205-215.
［30］PARKER L E, CHANDRA M, TANG F. Enabling autonomous sensor-sharing for tightly-coupled cooperative tasks［M］//PARKER L E, SCHNEIDER F, SCHULTZ A. Multi-robot systems: from swarms to intelligent automata. Volume Ⅲ. Berlin, Kluwer, 2005：119-230.
［31］TANG F, PARKER L E. ASyMTRe: automated synthesis of multi-robot task solutions through software reconfiguration［C］//IEEE International Conference on Robotics and Automation (ICRA). Barcelona, 2005: 1501-1508.
［32］TANG F, PARKER L E. Distributed multirobot coalition through ASyMTRe-D［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Alberta, Canada, 2005: 2606-2613.
［33］HOWARD A, PARKER L E, SUKHATME G. Experiments with a large heterogeneous mobile robot team: exploration, mapping, deployment, and detection［J］. International Journal of Robotics Research, 2006, 25(5/6): 431-447.
［34］PARKER L E, FREGENE K, GUO Yi, et al. Distributed heterogeneous sensing for outdoor multi-robot localization, mapping, and path planning［M］// SCHULTZ A C, PARKER L E. Multi-robot systems: from swarms to intelligent automata. Berlin: Kluwer, 2002: 21-30.
［35］ZHANG T, HASANUZZAMAN M, AMPORNARAMVETH V, et al. Construction of heterogeneous multi-robot system based on knowledge model［C］//IEEE International Conference on Robotics and Biomimetics (ROBIO). Hong Kong， China, 2005: 274-279.
［36］SHAH K, YAN M. Communicationefficient dynamic task scheduling for heterogeneous multi-robot systems［C］// International Symposium on Computational Intelligence in Robotics and Automation (CIRA). Jacksonville, USA, 2007: 230-235.
［37］WANG Qining, XIE Guangming, WANG Long, et al. Integrated heterogeneous multi-robot system for collaborative navigation［C］//Proceedings of the 2007 Frontiers in the Convergence of Bioscience and Information Technologies (FBIT). Jeju Island, Korea, 2007: 651-656.
［38］MARCHESE F. A multithreads architecture for the motion coordination of a heterogeneous multi-robot system［C］//Proceedings of the 2007 Sixth Mexican International Conference on Artificial Intelligence. Aguascalientes, Mexico, 2007: 418-428.
［39］FENG Yi, ZHU Zhigang, XIAO Jizhong. Heterogeneous multi-robot localization in unknown 3D space［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Beijing, China, 2006: 45334538.
［40］FENG Yi, ZHU Zhigang, XIAO Jizhong. Self-localization of a heterogeneous multi-robot team in constrained 3D space［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS). San Diego, USA, 2007: 1343-1350.
［41］HIGHTOWER J, BORRIELLO G. Location systems for ubiquitous computing［J］. IEEE Computer Supported Cooperative Work, 2001(33):57-66.
［42］GANGADHAR D. Emergence of spatial awareness in self configuring sensor networks［C］//International Symposium on Communications and Information Technologies. Sydney, Australia, 2007: 960-965.
［43］姜?? 健, 赵??? 杰, 李力坤. 面向群智能机器人系统的声音协作定向［J］. 自动化学报, 2007, 33(4): 385-391.
JIANG Jian, ZHAO Jie, LI Likun. Sound-based collaborative direction estimation for swarm robotic systems［J］. Acta Automatica Sinica, 2007, 33(4): 385-391.
［44］季秀才, 郑志强, 张??? 辉. SLAM问题中机器人定位误差分析与控制［J］. 自动化学报, 2008, 34(3): 323-331.
?JI Xiucai. ZHENG Zhiqiang, ZHANG Hui. Analysis and control of robot position error in SLAM［J］. Acta Automatica Sinica, 2008, 34(3): 323-331.
［45］郑?? 睿, 原??? 魁, 李??? 园. 一种用于移动机器人室内定位与导航的二维码［J］. 高技术通讯, 2008(4): 369-374.
?ZHENG Rui, YUAN Kui, LI Yuan. A 2D code for mobile robot localization and navigation in indoor environments［J］. Chinese High Technology Letters, 2008(4): 369-374.
［46］MYLLYMAKI J, EDLUND S. Location aggregation from multiple sources［C］//Proceedings of the Third International Conference on Mobile Data Management. Singapore, 2002: 131-138.
［47］张??? 宏, 贺也平, 石志国. 一个支持空间上下文的访问控制形式模型［J］. 中国科学E辑：技术科学, 2007, 37 (2): 254-271.
ZHANG Hong, HE Yeping， SHI Zhiguo. A formal model for access control with supporting spatial context［J］. Science in China Series E: Technological Sciences, 2007, 37 (2): 254-271.
［48］BURGARD W, MOORS M, STACHNISS C, et al. Coordinated multi-robot exploration［J］. IEEE Transactions on Robotics, 2005, 21(3): 376-386.
［49］彭??? 军. 多智能体系统协作模型及其在足球机器人仿真系统中的应用［D］. 长沙: 中南大学, 2005.
PENG Jun. Cooperation models of the multi-agent system and application to the RoboCuP soccer simulator［D］. Changsha: Zhongnan University, 2005.
［50］CHEN Y, CHEN X Y, RAO F Y, et al. LORE: an infrastructure to support location-aware service［J］. IBM Journal Research and Development, 2004, 48(5/6):601-615.
［51］严勇杰. 多机器人系统协调与控制研究［D］. 哈尔滨: 哈尔滨工程大学, 2007.
?YAN Yongjie. Coordination and control of multi-robot system［D］. Harbin: Harbin Engineering University, 2007.
［52］李淑琴. 面向任务的多机器人系统的组织设计研究 ［D］. 南京: 南京理工大学, 2005.
LI Shuqin. Study on organization of task-oriented multi-robot system［D］. Nanjing: Nanjing University of Science and Technology, 2005.
［53］KALRA N, FERGUSON D, STENTZ A. Hoplites: a marketbased framework for planned tight coordination in multi-robot teams［C］//IEEE International Conference on Robotics and Automation (ICRA). Barcelona, 2005: 1182-1189.
［54］SMITH R. The contract net protocol: high level communication and control in a distributed problem solver［J］. IEEE Transactions on Computers, 1980, C29(12): 1104-1113.
［55］GERKEY B, MATARIC M. A formal analysis and taxonomy of task allocation in multi-robot systems［J］. The International Journal of Robotics Research, 2004, 23(9): 939-954.
［56］姜??? 健, 臧希喆, 闫继宏, 等. 基于一种蚁群算法的多机器人动态感知任务分配［J］. 机器人, 2008, 30(3): 254-263.
?JIANG Jian, ZANG Xizhe, YAN Jihong, et al. Multi-robot dynamically perceived task allocation based on an ant colony algorithm［J］. Robot, 2008, 30(3): 254-263.
［57］DAHL T, MATARIC M, SUKHATME G. Multi-robot task allocation through vacancy chains［C］//IEEE International Conference on Robotics and Automation (ICRA). Taipei, China, 2003: 2293-2298.
［58］祖丽楠, 田彦涛, 梅?? 昊. 大规模多移动机器人合作任务的分布自主协作系统［J］. 机器人, 2006, 28(5): 470-477.
?ZU Linan, TIAN Yantao, MEI Hao. Distributed autonomous cooperation system for the large-scale cooperation task of multiple mobile robots［J］. Robot, 2006, 28(5): 470-477.
［59］罗?? 杰, 段建民, 陈建新. 一种引入局部交互的群体协作行为协同进化机制［J］. 机器人, 2007, 29(4): 313-319.
?LUO Jie, DUAN Jianmin, CHEN Jianxin. A mechanism of cooperative coevolution with local interaction for collective cooperation behaviors［J］. Robot, 2007, 29(4): 313-319.
［60］PALMER D, KIRSCHENBAUM M, MURTON J, et al. Decentralized cooperative auction for multiple agent task allocation using synchronized random number generators［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Las Vegas, USA, 2003: 1963-1968.
［61］MCLURKIN J. Analysis and implementation of distributed algorithms for multi-robot systems［D］. Cambridge, USA: Massachusetts Institute of Technology, 2008.
［62］丁滢颖. 基于个性的多机器人协作研究［D］. 杭州：浙江大学, 2005.
DING Yingying. Multi-robot cooperation basedon personaliy［D］. Hangzhou: Zhejiang University, 2005.
［63］郝宗波. 家庭移动服务机器人的若干关键技术研究［D］. 哈尔滨：哈尔滨工业大学, 2006.
HAO Zongbo. Research on several key technologies of home mobile service robot［D］. Harbin: Harbin Institute of Technology, 2006.
- 相似文献/References:
-
[1]张? 嵛,刘淑华.多机器人任务分配的研究与进展[J].智能系统学报,2008,3(2):115.
ZHANG Yu,LIU Shu-hua.Survey of multirobot task allocation[J].CAAI Transactions on Intelligent Systems,2008,3():115.
[2]杨茂,田彦涛.复杂环境下多机器人觅食路径规划与控制[J].智能系统学报,2013,8(2):162.[doi:10.3969/j.issn.1673-4785.201208022]
YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8():162.[doi:10.3969/j.issn.1673-4785.201208022]
[3]任立敏,王伟东,杜志江.移动机器人队形控制关键技术及其进展[J].智能系统学报,2013,8(5):381.[doi:10.3969/j.issn.1673-4785.201302011]
REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of? formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8():381.[doi:10.3969/j.issn.1673-4785.201302011]
[4]程磊,周明达,吴怀宇,等.无线传感器环境下粒子群优化的多机器人协同定位研究[J].智能系统学报,2015,10(1):138.[doi:10.3969/j.issn.1673-4785.201310067]
CHENG Lei,ZHOU Mingda,WU Huaiyu,et al.Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor[J].CAAI Transactions on Intelligent Systems,2015,10():138.[doi:10.3969/j.issn.1673-4785.201310067]
[5]钱殿伟.基于模糊滑模的多机器人系统编队控制[J].智能系统学报,2016,11(5):641.[doi:10.11992/tis.201510017]
QIAN Dianwei.Formation control of multi-robot systems in a fuzzy sliding mode[J].CAAI Transactions on Intelligent Systems,2016,11():641.[doi:10.11992/tis.201510017]
[6]屈云豪,丁永生,郝矿荣,等.行军启发的多机器人紧密队形保持策略[J].智能系统学报,2018,13(5):673.[doi:10.11992/tis.201710023]
QU Yunhao,DING Yongsheng,HAO Kuangrong,et al.March-inspired multi-robot compact formation strategy[J].CAAI Transactions on Intelligent Systems,2018,13():673.[doi:10.11992/tis.201710023]
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