General specification of multi-robot control system structures

Bulletin of the Polish Academy of Sciences. Technical Sciences

C. Zieli?skiInstitute of Control and Computation Engineering, Warsaw University of Technology, 15/17 Nowowiejska St., 00-665 Warsaw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  T. WiniarskiInstitute of Control and Computation Engineering, Warsaw University of Technology, 15/17 Nowowiejska St., 00-665 Warsaw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

[1] Institute of Control and Computation Engineering, Warsaw University of Technology, 15/17 Nowowiejska St., 00-665 Warsaw, Poland

关键词: Keywords: robot control systems;    specification of controllers;    multi-robot systems;   

DOI  :  10.2478/v10175-010-0002-x

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general, is responsible for control of its effector, perception of the environment for the purpose of its effector control, and inter-agent communication. The behaviour of the agent is governed by its set of transition functions. The control system consists of two tiers - the upper tier is defined by the flow of information between the agents and the lower tier is defined by formal specification of each agent's behaviour (influence on the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents one of the examples of utilization of this approach. The example concerns the multi-robot drawing copying system.

【 授权许可】

Unknown