基于Multi-Agent的无人机集群体系自主作战系统设计

针对无人集群自主作战体系设计中的关键问题,提出基于Multi-Agent的无人集群自主作战系统设计方法。建立无人集群各节点的Agent模型及其推演规则;对于仿真系统模块化和通用化的需求,设计系统互操作式接口和无人集群自主作战的交互关系;开展无人集群系统仿真推演验证。仿真结果表明,所提设计方案不仅能够有效开展并完成自主作战网络生成-集群演化-效能评估的全过程动态演示验证,而且能够通过重复随机试验进一步评估无人集群的协同作战效能,最后总结了集群协同作战的策略和经验。

Multi-agent robotic cooperative assembly system

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.

Fuzzy Timed Agent Based Petri Nets for Modeling Cooperative Multi-Robot Systems

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.

A Research Platform of Multi-agent System Robot Soccer Game

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.

基于MAS(Multi-AgentSystem)的多机器人系统:协作多机器人学发展的一个重要方向

机器人的应用方式正在由部件式单元应用向系统式应用方向发展 .这是实际应用的需要 ,也是技术发展的必然趋势 ;相关技术如计算机网络技术的发展也为它的实现提供了相应支持 .多机器人协作理论问题必然也已经成为机器人学研究的一个热点 ,其中 ,分布式人工智能 ( DAI)中的多智能体 (代理 )系统 ( MAS:Multi-agentSystem)理论已引起多机器人协作理论研究者的关注 .本文即在揭示协作多机器人系统与 MAS的内在联系的基础上 ,指出基于 MAS的协作多机器人系统是协作多机器人学发展的一个重要方向 .

Immune multi-agent model using vaccine for cooperative air-defense system of systems for surface warship formation based on danger theory

Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems （SoS） for surface warship formation （CASoSSWF） to the biological immune system （BIS） according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system （MAS）, the vaccine and the danger theory （DT）. Moreover a new immune multi-agent model using vaccine based on DT （IMMUVBDT） for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.

Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots

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.

基于Multi-Agent System的群机协同空战指挥控制系统模型的研究

研究了由多个智能 Agent(Multi- Agent System)组成的群机协同空战指挥控制系统的总体结构及基于 BDI(Belief、Desire、Intention)结构的 Agent对空战环境的感知模型、作战意图模型、决策模型和通讯行为。

Gini Coefficient-based Task Allocation for Multi-robot Systems With Limited Energy Resources

Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption,we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method,which can flexibly optimize the task completion number and the resource consumption according to the application contexts.Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.

Fast consensus seeking for multi-agent systems

For multi-agent systems based on the local information,the agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network.To study fast consensus seeking problems of multi-agent systems in undirected networks,a consensus protocol is proposed which considers the average information of the agents＇ states in a certain time interval,and a consensus convergence criterion for the system is obtained.Based on the frequency-domain analysis and algebra graph theory,it is shown that if the time interval is chosen properly,then requiring the same maximum control effort the proposed protocol reaches consensus faster than the standard consensus protocol.Simulations are provided to demonstrate the effectiveness of these theoretical results.

COLLISION-FREE OF MULTI-ROBOT SYSTEMS IN VIRTUAL ENVIRONMENT

This paper described a new method to plan out welding paths for multiple robots in virtual manufacturing environment. We first distribute welding tasks and priority for multi robots, and then apply corresponding behavior rules to help to plan out welding paths for robots collision free, which is a base fixed problem. Finally, we testify the algorithm to be practical in virtual environment, and output robot programs to direct production process. This new way will help us to find a new development method for multiple robots path planning.

New coordination scheme for multi-robot systems based on state space models

A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.

Safety architecture of internet based multi-robot teleoperation system

Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

The Design of Control System for Multi Joint Robot based on PC+DSP

A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the short- comings of the control system in terms of flexibility, cost performance, and software transplantation, which use Industrial Personal Computer for the upper monitor and MAC Motion control card for the lower computer. The design of multi joint robot control system is accomplished through hardware circuit design, VC++ programming and so on. Finally, six joint robot platform is used to test the control performance,The results show that the designed control system has the advantages of flexible fimction,easy expansion and easy porting of software.

Collaborative task planning for an internet based multi-operator multi-robot system

In an Internet based multi-operator and multi-robot system (IMOMR), operators have to work collaboratively to overcome the constraints of space and time. Inherently, the activities among them can be defined as a computer-supported cooperative work (CSCW). As a practical application of CSCW, a collaborative task planning system (CTPS) for IMOMR is proposed in this paper on the basis of Petri nets. Its definition, components design, and concrete implementation are given in detail, respectively. As a result, a clear collaboration mechanism of multiple operators in an IMOMR is obtained to guarantee their task planning.

A new coordination method for multi-robot system

This paper proposes a new coordination method for multi-robot system.The state space for a multi-robot system is constructed according to the task requirements and system characteristics.Reachable statefor the system is constrained by the system s internal and external constraints,under which the task isexecutable if there exists a state transition trajectory from the initial to the goal state in its state space.Ifthe task is realizable,the feasible or the optimal strategy for task execution could then be investigated inthe state space.Otherwise,the task could be modified to be realizable via adjusting system s configura-tions and/or task constraints,which provides critical guidance for system reconstructions.This con-tributes to the designing and planning of the robotic tasks.Experiments of multi-robot formation movementare conducted to show the validity of the proposed method.

Research on Cognitive Cooperation in Multi-Agent Systems

The accomplishment of a complex problem usually involves cooperation between participators with different knowledge background concerned. This paper identifies interdependency between different sub problems （through problem decomposition） as the major factor that influences cooperative relations in multi-Agent systems, based on which we propose an efficient means to measure cooperation coefficient （degree） between different Agents. Then cognitive cooperation between Agents is analyzed which aims at collecting the wisdom of the cognitive community for a systematic solution to the overall problem.

Acceleration Workspace of Cooperating Multi-Finger Robot Systems

We present a mathematical method for acceleration workspace analysis of cooperating multi-finger robot systems using a model of point-contact with friction. A new unified formulation from dynamic equations of cooperating multi-finger robots is derived considering the force and acceleration relationships between the fingers and the object to be handled. From the dynamic equation, maximum translational and rotational acceleration bounds of an object are calculated under given constraints of contact conditions, configurations of fingers, and bounds on the torques of joint actuators for each finger. Here, the rotational acceleration bounds can be applied as an important manipulability index when the multi-finger robot grasps an object. To verify the proposed method, we used a set of case studies with a simple multi-finger mechanism system. The achievable acceleration boundary in task space can be obtained successfully with the proposed method and the acceleration boundary depends on the configurations of fingers.