Communication in the autonomous and decentralized robot system ACTRESS
Communication in the autonomous and decentralized robot system ACTRESS
复制标题
自主分散式机器人系统 ACTRESS 中的通信
DOI：
10.1109/iros.1990.262503
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
I. Endo
中科院分区：
文献类型：
--
作者：
A. Matsumoto;H. Asama;Y. Ishida;K. Ozaki;I. Endo
先进机器人系统的新概念--基于演员的机器人和设备合成系统(JECTOR-BASE Robot And Equipment Complete System)--是为实现高级任务的自动化而设计的。该系统假设多个机器人和设备，通常被称为机器人，根据任务要求，通过彼此通信独立或协作地工作。讨论了分布式机器人系统的体系结构。给出了机器人之间为完成各种任务而进行通信的协议的基本设计。对消息协议进行了扩展，引入协商的概念作为任务分配问题协同工作的框架。以消息协议在对象推送问题中的应用为例。
The new concept for an advanced robot system, ACTRESS (ACTor-based robots and equipments synthetic system), has been designed for the automation of high level tasks. The system assumes that multiple robots and equipments, which are called robotors in general, work independently or cooperatively by communicating each other, depending on the task requirements. The paper discusses the distributed robot system architecture. The basic design of protocol is shown for the communication between robotors in order to achieve various tasks. The message protocol is extended and the concept of negotiation is introduced as the framework for the cooperative work of the task allocation problem. The message protocol has been applied to object-pushing problem as an example.<<ETX>>