An agent-based tetrahedral walker
An agent-based tetrahedral walker
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基于代理的四面体步行器
DOI：
10.1109/aero.2006.1656035
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
C. Sebens
中科院分区：
文献类型：
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作者：
C. Sebens
ANTS（自主纳米技术群）SMART（超小型可寻址可重构技术）架构是在戈达德太空飞行中心（GSFC）发起的，旨在开发新型机器人结构，能够：目标导向运动，改变其形式以优化其功能，适应新的环境需求，和/或自我修复。为了开始探索这些概念的可能性和多智能体控制的可能应用，考虑了一系列导致四面体的日益复杂的粗纱形状。目标是使结构从初始位置移动到指定的目标位置。四面体有六个支柱，可以可逆地展开或收起。通过将这些可重构的四面体相互连接，将形成更复杂的结构，使结构成为可扩展和大规模并行系统。这样一个复杂系统的全部功能需要完全自主的操作。本文将讨论这一创新性的使用多代理系统技术，被用来实现所需的自主行为，以及日益复杂的分阶段的方法，在发展的多代理泰特
ANTS (autonomous nano technology swarm) SMART (super miniaturized addressable reconfigurable technology) architectures were initiated at the Goddard Space Flight Center (GSFC) to develop new kinds of robotic structures capable of: goal-oriented motion, changing its form to optimize its function, adapting to new environmental demands, and/or repairing itself. To begin to explore the possibilities of these concepts and the possible application of multi-agent control, a series of increasingly complex roving shapes leading up to the tetrahedron were considered. The goal is to have the structure move from an initial location to a specified goal location. The tetrahedron has six struts that can be reversibly deployed or stowed. More complex structures will be formed by interconnecting these reconfigurable tetrahedra, making structures that are scalable and massively parallel systems. The full functionality of such a complex system requires fully autonomous operations. This paper will address this innovative use of multi-agent system technology that is being used to achieve the desired autonomous behaviors as well as the increasingly complex staged approach in the development of the multi-agent tet