On multi-robot cooperation based on MAS and sensor information

Author

Leimin, Li ; Gang, Liu

Author_Institution

Nat. Sch. of Defense Technol., Southwest Univ. of Sci. & Technol., Mianyang

fYear

2008

fDate

16-18 July 2008

Firstpage

500

Lastpage

504

Abstract

Multi-robot cooperation is one of hotspots in research on robotics and artificial intelligence currently. To solve the problem of task allocation in multi-robot system, a pyramid-like hybrid control architecture based on centralized control and distributed control is applied to accomplish multi-robot cooperation in task level. When robots received the information provided by sensors, the task was distributed according to Contract Net Protocol. Finally multi-robot cooperation was accomplished. The simulation of multi-robot tracking and formation experiments in player/stage platform showed that the algorithm is effective.

Keywords

centralised control; control engineering computing; distributed control; multi-agent systems; multi-robot systems; protocols; Contract Net Protocol; MAS; centralized control; distributed control; multi-robot cooperation; multi-robot tracking; pyramid-like hybrid control architecture; sensor information; task allocation; Artificial intelligence; Centralized control; Contracts; Control systems; Distributed control; Intelligent robots; Intelligent sensors; Multirobot systems; Protocols; Robot sensing systems; Contract Net Protocol; Hybrid Control Architecture; Multi-robot Cooperation; Player/Stage Simulation; Task Allocation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605863

Filename

4605863