A hierarchical framework for cooperative control of multiple bio-mimetic robotic fish
文献类型：会议论文
| 作者 | Shao, Jinya; Yu, Junzhi ; Fang, Yimi; Xie, Guangmin; Wang, Long; Shao, Jinyan
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| 出版日期 | 2005 |
| 会议日期 | August 2, 2005 - August 6, 2005 |
| 会议地点 | Edmonton, AB, Canada |
| 关键词 | Robotic Fish Cooperative Control Hierarchical Behavior Based |
| 英文摘要 | This paper presents a hierarchical framework for controlling a group of biomimetic fish robots to achieve cooperative tasks. Based on our previous successful work on the design and development of a robotic fish prototype, we attempt further to investigate the cooperation in groups of these fish. Employing top-down design approach, we propose a hierarchical architecture consisting of five levels: task level, role (or mode) level, behavior level, action level and controller level, to formalize the processes from task decomposition, role assignments and control performance. Two typical cases are developed to demonstrate the feasibility of the architecture and corresponding experimental results show that high efficiency and much greater capabilities are exhibited when the fish try to cooperate. |
| 会议录 | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems
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| 源URL | [http://ir.ia.ac.cn/handle/173211/13147]  |
| 专题 | 自动化研究所_个人空间 |
| 通讯作者 | Shao, Jinyan |
| 作者单位 | Center for Systems and Control, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Shao, Jinya,Yu, Junzhi,Fang, Yimi,et al. A hierarchical framework for cooperative control of multiple bio-mimetic robotic fish[C]. 见:. Edmonton, AB, Canada. August 2, 2005 - August 6, 2005. |
入库方式： OAI收割
来源：自动化研究所
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