基于周期时间限制的多机器人自主委托协作模型

A Delegation Model for Multi-Robot Autonomous Cooperation with Periodicity Constraints

提出一种基于周期时间限制的多机器人自主委托协作模型,目的是解决传统算法在任务撤销、失效限制方面的欠缺,并在灵活性和可控性之间寻求平衡.它可以有效地对委派任务的机器人进行控制,但又不会因为执行过于严格的委托约束而造成策略定义和模型构造方面的困难.该多机器人协作模型解决了现有多机器人分工协作模型中对时间限制缺少支持的问题,并给出了一个支持临时性限制、时序依赖限制和传播限制的委托协作模型.使用周期时间、使用次数、有效期限来控制临时协同,用推导规则来控制协作间的时序依赖,用委托深度来限制委托权限的传播.给出了模型的形式化描述.

A delegation model for multi-robot autonomous cooperation with periodicity constraints is presented to solve the drawbacks in restrictions of task revocation and dismission of traditional algorithms, which attempts to find a balance between controllability and flexibility. It can effectively control the robots with assigned and delegated tasks, but not enforce too strict constraints on delegation so that raising the difficulty in the policy definition and model construction. The pro- posed model solves the problem that there is no support for time constraint in the current multi-robot cooperation model. A delegation model for cooperation supporting the temporary constraints, the temporal dependencies constraints and the propagation constraints is presented. Temporal cooperation is controlled by the periodic time, used times and valid period, the temporal dependency between cooperations is controlled by the derivation rule, and the propagation of delegated privileges is controlled by the delegation depth. This paper also gives formal definition for the model.