摘要
This paper deals with task planning of a cooperative distributed multi agent based robots system-an assembly experimental system-DAMAS (Distributed Agent based Multi robots Assembly System). In what concerns the architecture, the main contribution is the existence of Agents representing robots together with special Agent representing assembly object. The well known Contract Net protocol has been adopted and extended to handle the negotiation problem among multi robots. The detailed cooperative assembly algorithm is given. In implementation of this algorithm, dynamic virtual monitor is proposed and implemented. The advanced DOT is adopted as an implementing tool.
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