Cooperative material handling by human and robotic agents: module development and system synthesis
Cooperative material handling by human and robotic agents: module development and system synthesis
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人类和机器人代理协作物料搬运：模块开发和系统综合
DOI：
10.1109/iros.1995.525797
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
X. Yun
中科院分区：
文献类型：
--
作者：
J. Adams;R. Bajcsy;J. Kosecka;Vijay R. Kumar;R. Mandelbaum;M. Mintz;R. Paul;Curtis Wang;Y. Yamamoto;X. Yun
介绍了一个由人类和机器人组成的小团队在非结构化室内环境中设计并实施协作式物料搬运系统的合作成果。作者的方法从根本上利用了人类主体在任务规划、任务监控和错误恢复方面的专业知识。作者的系统既不是完全自主的，也不是完全遥控操作的。它旨在在自主系统的现有技术水平下有效利用人类的能力。作者所说的机器人主体是指每个都至少配备一种传感模式，并且具有一定的自我定向和/或移动能力的系统。作者的机器人主体在能力或功能方面不要求是同质的。作者的研究强调范式和试验台实验。理论问题包括协作多智能体系统基本运行所必需的协调原则和技术。作者构建了一个实验性的分布式多智能体架构试验台设施。这个试验台所需的模块化组件目前已可运行，并且已经过单独测试。作者目前的研究重点是在协作式物料搬运场景中智能体的集成。
Presents a collaborative effort to design and implement a cooperative material handling system by a small team of human and robotic agents in an unstructured indoor environment. The authors' approach makes fundamental use of the human agents' expertise for aspects of task planning, task monitoring, and error recovery. The authors' system is neither fully autonomous nor fully teleoperated. It is designed to make effective use of the human's abilities within the present state of the art of autonomous systems. The authors' robotic agents refer to systems which are each equipped with at least one sensing modality and which possess some capability for self-orientation and/or mobility. The authors' robotic agents are not required to be homogeneous with respect to either capabilities or function. The authors' research stresses both paradigms and testbed experimentation. Theory issues include the requisite coordination principles and techniques which are fundamental to a cooperative multiagent system's basic functioning. The authors have constructed an experimental distributed multiagent-architecture testbed facility. The required modular components of this testbed are currently operational and have been tested individually. The authors' current research focuses on the agents' integration in a scenario for cooperative material handling.