Negotiation and Cooperation in Distributed Control System of Reconfigurable Modular Robot
文献类型：会议论文
| 作者 | Liu MY(刘明尧); Tan DL(谈大龙); Li B(李斌) ; Zhu T(朱涛)
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| 出版日期 | 2001 |
| 会议名称 | International Conference on Modeling and Simulation in distribution Applications |
| 会议日期 | September 25-27, 2001 |
| 会议地点 | Changsha, China |
| 关键词 | multiagent cooperation reconfigurable modular manipulator negotiation system |
| 页码 | 378-382 |
| 中文摘要 | According to multi-agent system theory and characteristics of the structural distribution of reconfigurable modular robots, we establish the multi-agent models for reconfigurable modular robot. Each joint module of reconfigurable modular robot is considered as an agent. Each agent can communicate with other agents so that the states of other agents can be obtained. Because the relations among agents are tightly coupled and each agent has no local subtask, agents need to coordinate their actions constantly in order to complete their tasks. We present an new negotiation and cooperation algorithm in the multi-agent based control systems. The basic idea of our method is that action effects of agents are forecasted using the conception of Jacobian matrix and differential motion, the total effects of several agents are calculated by adding their action effects that the agent acts singly, the set of cooperation agents is selected by the total effects. We present the method that forecasts the total cooperation effects in order to select cooperation. The orientation of 6-dimension vector that reflects the tasks is compared with the orientation of 6-dimension vector that reflects the effects. The orientation closeness between the two vectors is calculated. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the International Conference on Modeling and Simulation in distribution Applications
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| 语种 | 英语 |
| ISBN号 | 7-81024-781-6 |
| 源URL | [http://ir.sia.cn/handle/173321/9840]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu MY,Tan DL,Li B,et al. Negotiation and Cooperation in Distributed Control System of Reconfigurable Modular Robot[C]. 见:International Conference on Modeling and Simulation in distribution Applications. Changsha, China. September 25-27, 2001. |
入库方式： OAI收割
来源：沈阳自动化研究所
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