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The research of multiple mobile robots has been one of the most popular topics in the Robot field. In a dynamic, complicated and unknown environment, it is challenging to organize and control multiple robots to finish a task that Individual robot can’t do. An excellent organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of calculate.
How to carry out task efficiently can be researched from two levels: in high-level organization and operation mechanism of system, in low level the specific manipulation control and coordination. The high-level is how to allocate task on the every robot and how to organize robots to finish the task. After the organization has been confirmed, it needs Robotic controlled collaboration in the low-level to solve the local subtasks collision especially to the tightly complicated task. It embodies moving coordination planning and control.
As robot is the product of human volition, the Technology of robot has always been a reflection of human society. Each individual robot can be conceptualized as an agent that has certain ability of decision, sensation, action and communication. These agents can be defined as a team of robots constituted by a system method. On the same token, it can be formed in a robot society. It can reference the outcomes of the multi-agent research to go on with the multiple robot society. Now in the study of multi-agent system, the main methodologies about organization formation have the society reasoning based on dependent relationship, the league forming based on game theory, structure oriented method, and so on. The two former methods did not definitude express the organization structure and cannot express the organization actions relation with objected structure. The objected to structure method is a definitude target express method and it is similar to the organization formation mechanism of human society.
Source : International journal of Advanced Robotic Systems
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