Cooperation and Communication in Multi-Agent Reactive Robotic Systems

本研究主要是研究通讯与控制需求 多个自主机器人合作完成一个 任务，其中机器人是组织heterarchically，而不是 使用更常见的分级（主/从）控制。 每个 行为反应，根据相对 原始运动图式 由此产生的组织不 需要一个明确的世界模型，并且应该更加强大， 因此更适合在偏远和/或危险环境中操作 环境. 一个关键的研究问题是评估疗效 这种系统在受约束的代理间 通讯 这种药剂的使用可能更经济。 研究的目标是了解和发展控制， 强大而高效的沟通机制， 机器人合作行为

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.