With the development of information network and agent technology,Multi-Mobile Agents'Cooperation can notonly improve the computing efficiency,but also have a comprehensive applicative value in solving the security...With the development of information network and agent technology,Multi-Mobile Agents'Cooperation can notonly improve the computing efficiency,but also have a comprehensive applicative value in solving the security issues of mo-bile agent system.Aiming at the security and flexibility,this paper proposes a kind of basic architecture and the designpattern of Multi-Mobile Agent System(MMAS).Combined with cryptography,it builds the security mechanism on keys'distribution and management and Coalition Signature of MMAS.Through the analysis of security and validity,the in-troduction and application of cryptography can improve the performance of MMAS.展开更多
Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses...Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.展开更多
文摘With the development of information network and agent technology,Multi-Mobile Agents'Cooperation can notonly improve the computing efficiency,but also have a comprehensive applicative value in solving the security issues of mo-bile agent system.Aiming at the security and flexibility,this paper proposes a kind of basic architecture and the designpattern of Multi-Mobile Agent System(MMAS).Combined with cryptography,it builds the security mechanism on keys'distribution and management and Coalition Signature of MMAS.Through the analysis of security and validity,the in-troduction and application of cryptography can improve the performance of MMAS.
基金Project supported by the Key Research and Development Program of Zhejiang Province,China(No.2023C01174)。
文摘Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.
