Robot heterogeneity analysis based on extenics

被引：0
作者：
Wu, Hao [1 ]
Tian, Guohui [1 ]
机构：
[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2007年
关键词：
extension model; Extenics; heterogeneity; task allocation; multi robot system;
D O I：
10.1109/ICAL.2007.4338636
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new method that robot heterogeneities are described by using an extension model based on Extenics, which is a new discipline and a new branch of artificial intelligence. Individual robot is the basic unit of a multi-robot system. The whole system's performance is determined by individual's capability. Heterogeneity determines a robot's difference in behavior and ability. Studying robot's heterogeneity is the foundation for the entire system to achieve the optimum state. This paper first analyses heterogeneous characters of robot generally, then an extension model is established to show heterogeneous characteristics. This extension model is used for task allocation which is based on contract net protocol. At the end, simulation is conducted in a multi-robot system. Simulation results validate this method.
引用
收藏
页码：608 / 613
页数：6
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