Studies on methods for synthesizing autonomous and distributed robots systems with group-intelligence

(1)面向零件型协同规划系统的研究：基于自主性和分布性的概念，提出了装配任务中运动序列的自动生成方法。在该系统中，零件、机械手和工作台分别作为“代理”处理。部分智能体在局部信息的作用下自主行动，通过相互协商来实现系统的目标。（2）基于空间分析和行为观察的机器人运动规划：针对两个移动的机器人在狭窄的、有障碍物的通道中的避碰问题，提出了一种新的避碰方法。另一个机器人的行为观察和周围空间的分析有效地使规划一个安全的路径，而无需通过通信链路进行任何协商。本文介绍了一种用于机械手设备的智能操作系统 关于我们 具有平行的双指夹持器，可以拾取，放置滑动和旋转物体。研究了一种带机械手的移动的机器人的规划方法。(3)利用多视觉系统识别和测量三维物体：开发了一个主动视觉系统，该系统集成了来自不同类型传感器的信息，如CCD摄像机和激光测距仪，我们完成了一个实际的零件拾取任务。此外，设计了一种多过程协作的全向图像目标识别算法，并通过实验验证了该算法的有效性。(4)基于信息交换的多机械手协同控制：针对多机械手搬运和更换零件的任务，给出了各种情况下零件位姿确定等扩展任务规划问题的解决方案，并对零件的推、滚等搬运任务进行了研究，提出了一种灵活可靠的协同算法。少

(1) Studies on a parts-oriented-type cooperative planning system :On the basis of the concept of autonomy and distribution, we proposed a method for the problem of automatically generating motion sequences in an assembly task. Parts, manipulators and work-tables are handled as "agents" respectively in this system. Part-agents autonomously behave under the local information and try to achive the goal of the system by negotiating each other. Moreover, we deviced a method for dealing with accidents happended in putting a plan into practice(2) Robot Motion Planning Based on Space Analysis and Behavior Observation :A new method of the collision avidance has been proposed for two mobile robots in a narrow passage cluttered with unezpected obstacles. The behavior observation of another robot and the surrounding space analysis effectively enable to plan a safe path without any negotiation through a communication link. An intelligent manipulation system has been developed for a manipulator equi … More pped with a parallel two-fingered gripper which can pick, place slide and rotate an object. The plannining method of a mobile robot equipped with a manipulator has been developed.(3) Recognizing and measuring 3-D objects by using a multi-vision system :Developing an active vision system which integrates information from different kinds of sensors such as CCD cameraa and Laser range finders, we performed a practical parts picking task. Moreover, designing a cooperative algorithm for multiple procesures of recognizing objects in an omni-directional image, we clarified the effectiveness in an experiment.(4) Cooperative control of multiple manipulators based on exchanging information :As far as the tasks of transfering and replacing parts with multiple manipulators are concerned, we gave a solution for extended task planning problem such as the determination of the position and the orientation of parts under various situation, and made a study on the handling tasks such as pushing and rolling a part, and developed a cooperative algorithm with a flexible and reliable excellence. Less