In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any ord...In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by Ho~ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality （LMI）. The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.展开更多
Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme a...Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme adaptive PID learning controller. It means to overcome the drawbacks of the conventional PID type control methods. Secondly, we introduce our vision recognition algorithm. It remarkably increases the speed of recognition. Finally, we refer the communication system. We adopt bulletin board system to prevent communication confusion.展开更多
Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up s...Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.展开更多
Model driven generative domain engineering (MDGDE) is a domain engineering method aiming to develop optimized, reusable architectures, components and aspects for application engineering. Agents are regarded in MDGDE a...Model driven generative domain engineering (MDGDE) is a domain engineering method aiming to develop optimized, reusable architectures, components and aspects for application engineering. Agents are regarded in MDGDE as special objects having more autonomy, and taking more initiative. Design of the agent involves three levels of activities: logical analysis and design, physical analysis, physical design. This classification corresponds to domain analysis and design, application analysis, and application design. Agent is an important analysis and design tool for MDGDE because it facilitates development of complex distributed system—the mobile robot. According to MDGDE, we designed a distributed communication middleware and a set of event-driven agents, which enables the robot to initiate actions adaptively to the dynamical changes in the environment. This paper describes our approach as well as its motivations and our practice.展开更多
A soccer robot system (HIT 1) was built to participate in MIROSOT_China99 held in Harbin Institute of Technology. Robot soccer game is a very complex robot application that incorporates real time vision system, robot ...A soccer robot system (HIT 1) was built to participate in MIROSOT_China99 held in Harbin Institute of Technology. Robot soccer game is a very complex robot application that incorporates real time vision system, robot control, wireless communication and control of multiple robots. In the paper, we present the design and the hardware architecture and software architecture of our distributed multiple robot system.展开更多
The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The act...The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corresponding to its own purpose. The behavior is the high level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action commands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea Cup K League.展开更多
Presents a multi robot cooperative assembly system (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an omni directional vehicle, PUMA 760 and Adept I and organized into ...Presents a multi robot cooperative assembly system (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an omni directional vehicle, PUMA 760 and Adept I and organized into a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.展开更多
A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The prop...A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS, which is a typical multi-agent system (MAS). At the same time, supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced into FTAPN, which is used as a common modeling object in its model. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent systems (MAS) into the mainstream practice of the software development.展开更多
Soccer robot system is a tremendously challenging intelligent system developed to mimic human soccer competition based on the multi discipline research: robotics, intelligent control, computer vision, etc. robot path ...Soccer robot system is a tremendously challenging intelligent system developed to mimic human soccer competition based on the multi discipline research: robotics, intelligent control, computer vision, etc. robot path planning strategy is a very important subject concerning to the performance and intelligence degree of the multi robot system. Therefore, this paper studies the path planning strategy of soccer system by using fuzzy logic. After setting up two fuzziers and two sorts of fuzzy rules for soccer system, fuzzy logic is applied to workspace partition and path revision. The experiment results show that this technique can well enhance the performance and intelligence degree of the system.展开更多
Summary of typical information fusion systems, synthesis analysis of Robot Soccer’s architecture, recognition of its characteristic and key technique are given. The result is prompted that Robot Soccer can be treated...Summary of typical information fusion systems, synthesis analysis of Robot Soccer’s architecture, recognition of its characteristic and key technique are given. The result is prompted that Robot Soccer can be treated as a platform of the information fusion.展开更多
A new ball passing strategy for robot soccer is proposed in this paper. With introduce of a new algorithm on ball passing, the optimum strategy is confirmed to be more efficient and exact when passing a ball. Question...A new ball passing strategy for robot soccer is proposed in this paper. With introduce of a new algorithm on ball passing, the optimum strategy is confirmed to be more efficient and exact when passing a ball. Questions of role switching in multi-intelligent agent cooperation in robot soccer are described based on Generalized Stochastic Petri-Net （GSPN）. Results of computer simulation have confirmed the feasibility and efficiency of above Petri-net method.展开更多
This paper presents a multi-agent robotic fish system used for mariculture monitoring. Autonomous robotic fish is designed to swim underwater to collect marine information such as water temperature and pollution level...This paper presents a multi-agent robotic fish system used for mariculture monitoring. Autonomous robotic fish is designed to swim underwater to collect marine information such as water temperature and pollution level. Each robotic fish has 5 degrees of freedom for controlling its depth and speed by milnicking a sea carp. Its bionic body design enables it to have high swimming efficiency and less disturbance to the surrounding sea lives. Several onboard sensors are equipped for autonomous 3D naviga- tion tasks such as path planning, obstacle avoidance and depth maintenance. A robotic buoy floating on the water surface is deployed as a control hub to communicate with individual robots, which in turn form a multi-agent system to monitor and cover a large scale sea coast cooperatively. Both laboratory experiments and field testing have been conducted to verify the feasibility and performance of the proposed multi-agent system.展开更多
Multl-agent reinforcement learning algorithms are studied. A prediction-based multi-agent reinforcement learning algorithm is presented for multl-robot cooperation task. The multi-robot cooperation experiment based on...Multl-agent reinforcement learning algorithms are studied. A prediction-based multi-agent reinforcement learning algorithm is presented for multl-robot cooperation task. The multi-robot cooperation experiment based on multi-agent inverted pendulum is made to test the efficency of the new algorithm, and the experiment results show that the new algorithm can achieve the cooperation strategy much faster than the primitive multiagent reinforcement learning algorithm.展开更多
文摘In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by Ho~ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality （LMI）. The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.
文摘Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme adaptive PID learning controller. It means to overcome the drawbacks of the conventional PID type control methods. Secondly, we introduce our vision recognition algorithm. It remarkably increases the speed of recognition. Finally, we refer the communication system. We adopt bulletin board system to prevent communication confusion.
文摘Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.
文摘Model driven generative domain engineering (MDGDE) is a domain engineering method aiming to develop optimized, reusable architectures, components and aspects for application engineering. Agents are regarded in MDGDE as special objects having more autonomy, and taking more initiative. Design of the agent involves three levels of activities: logical analysis and design, physical analysis, physical design. This classification corresponds to domain analysis and design, application analysis, and application design. Agent is an important analysis and design tool for MDGDE because it facilitates development of complex distributed system—the mobile robot. According to MDGDE, we designed a distributed communication middleware and a set of event-driven agents, which enables the robot to initiate actions adaptively to the dynamical changes in the environment. This paper describes our approach as well as its motivations and our practice.
基金Supported by the High Technology Research and Developmeent Program of China
文摘A soccer robot system (HIT 1) was built to participate in MIROSOT_China99 held in Harbin Institute of Technology. Robot soccer game is a very complex robot application that incorporates real time vision system, robot control, wireless communication and control of multiple robots. In the paper, we present the design and the hardware architecture and software architecture of our distributed multiple robot system.
文摘The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corresponding to its own purpose. The behavior is the high level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action commands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea Cup K League.
文摘Presents a multi robot cooperative assembly system (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an omni directional vehicle, PUMA 760 and Adept I and organized into a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.
文摘A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS, which is a typical multi-agent system (MAS). At the same time, supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced into FTAPN, which is used as a common modeling object in its model. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent systems (MAS) into the mainstream practice of the software development.
文摘Soccer robot system is a tremendously challenging intelligent system developed to mimic human soccer competition based on the multi discipline research: robotics, intelligent control, computer vision, etc. robot path planning strategy is a very important subject concerning to the performance and intelligence degree of the multi robot system. Therefore, this paper studies the path planning strategy of soccer system by using fuzzy logic. After setting up two fuzziers and two sorts of fuzzy rules for soccer system, fuzzy logic is applied to workspace partition and path revision. The experiment results show that this technique can well enhance the performance and intelligence degree of the system.
文摘Summary of typical information fusion systems, synthesis analysis of Robot Soccer’s architecture, recognition of its characteristic and key technique are given. The result is prompted that Robot Soccer can be treated as a platform of the information fusion.
文摘A new ball passing strategy for robot soccer is proposed in this paper. With introduce of a new algorithm on ball passing, the optimum strategy is confirmed to be more efficient and exact when passing a ball. Questions of role switching in multi-intelligent agent cooperation in robot soccer are described based on Generalized Stochastic Petri-Net （GSPN）. Results of computer simulation have confirmed the feasibility and efficiency of above Petri-net method.
文摘This paper presents a multi-agent robotic fish system used for mariculture monitoring. Autonomous robotic fish is designed to swim underwater to collect marine information such as water temperature and pollution level. Each robotic fish has 5 degrees of freedom for controlling its depth and speed by milnicking a sea carp. Its bionic body design enables it to have high swimming efficiency and less disturbance to the surrounding sea lives. Several onboard sensors are equipped for autonomous 3D naviga- tion tasks such as path planning, obstacle avoidance and depth maintenance. A robotic buoy floating on the water surface is deployed as a control hub to communicate with individual robots, which in turn form a multi-agent system to monitor and cover a large scale sea coast cooperatively. Both laboratory experiments and field testing have been conducted to verify the feasibility and performance of the proposed multi-agent system.
基金Sponsored bythe Ministerial Level Foundation (70302)
文摘Multl-agent reinforcement learning algorithms are studied. A prediction-based multi-agent reinforcement learning algorithm is presented for multl-robot cooperation task. The multi-robot cooperation experiment based on multi-agent inverted pendulum is made to test the efficency of the new algorithm, and the experiment results show that the new algorithm can achieve the cooperation strategy much faster than the primitive multiagent reinforcement learning algorithm.
