面向多机器人系统的元组空间协同模型

Tuple Space Coordination Model for Multi-robot Systems

在多机器人协同领域,传统的协同模型虽然解决了协同实体间的信息交互、共享和通信问题,但复杂多变的协同环境所需要的决策机制并没有在模型层得到支持,只能通过应用程序来实现,导致协同系统开发困难并影响协同决策过程的执行效率。针对传统的协同模型存在无法灵活地支持用户决策的问题,本文提出一种基于事件具有决策能力的元组空间协同模型DEBC(Decision and Event Based Coordination)。DEBC模型在元组空间框架中引入决策机制,并对应用层的协同任务进行部分抽象,通过赋予元组空间一组支持决策的操作,使得协同应用程序开发具有高度的灵活性和适应性。同时引入事件机制,保证了协同实体间协同行为的灵活性和高效性。最后,对DEBC模型进行实例分析并与现有模型进行实验对比分析,验证了DEBC模型具有良好的表达能力和更高的执行效率,其提供的决策机制、事件机制具有广泛的适用性。

In the field of multi-robot coordination,although the traditional coordination model solves the problems of informa⁃tion interaction,sharing and communication between collaborative entities,the decision-making mechanism required by the complex and changeable collaborative environment is not supported at the model level and can only be implemented through ap⁃plications,which leads to difficulties in the development of collaborative systems and affects the execution efficiency of the col⁃laborative decision-making process.To solve the problem that traditional coordination models cannot flexibly support user deci⁃sions,this paper proposes an event based tuple space coordination model DEBC(Decision and Event Based Coordination)with decision-making capabilities.The DEBC model introduces a decision mechanism into the tuple space framework,and partially abstracts the collaborative tasks of the application layer.By giving the tuple space a set of operations to support decisionmaking,the development of collaborative applications has a high degree of flexibility and adaptability.At the same time,the event mechanism is introduced to ensure the flexibility and efficiency of the collaborative behavior between collaborative entities.Finally,an example of DEBC model is analyzed and compared with the existing models through experiments.It is verified that DEBC model has good expression ability and higher execution efficiency,and the decision mechanism and event mechanism it provided are widely applicable.