Cooperation and Communication in Multi-Agent Reactive Robotic Systems

多智能体反应机器人系统中的合作与通信

• 批准号: 9100149
• 负责人: Ronald Arkin
• 金额: $ 12.88万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-03-15 至 1994-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9100149&HistoricalAwards=false
• 关键词: Cooperation; Communication; Multi; Agent; Reactive

This research is to study communications and control requirements for multiple autonomous robots to cooperate in accomplishing a task, where the robots are organized heterarchically instead of using the more common hierarchical (master/slave) control. Each behaves reactively, in accordance with sets of relatively primitive motor schemas. The resulting organization does not require an explicit world model, and should be more robust and hence more suitable for operations in remote and/or hazardous environments. A key research issue is to evaluate the efficacy of such systems operating under constrained inter-agent communications. Such agents could be more economical to operate. The goal of the research is to understand and develop control and communication mechanisms that produce robust yet efficient cooperative robot behavior.

本研究旨在研究多个自主式机器人协作完成一项任务时的通信和控制需求，其中机器人采用异构式组织，而不是使用更常见的分层(主/从)控制。每一个都根据一组相对原始的运动图式进行反应性的行为。由此产生的组织不需要明确的世界模型，应该更强大，因此更适合在偏远和/或危险环境中开展业务。一个关键的研究问题是评估这种系统在受限的代理间通信下运行的有效性。这样的代理可能会更经济地运营。这项研究的目标是理解和开发控制和通信机制，以产生健壮而高效的协作机器人行为。