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The dynamic evolution of the cooperative relationship between Robot teams is an adaptive means to solve questions of environment and demands of tasks. According to the adaptation to the solving industrial Automation environment, there are two ways to form the team.
One is to design the team structure in advance, based on the question solving demands and various constrains. The team structure does not change in the whole problem solving process. And to solve interaction between Robots the task segregation problem and the load balance problems is relatively simple because of the static Robot team structure. The shortcoming is that it can not solve problems well in the open environment or when goals are changing during the problem solving process. And the problem solving ability will decrease or even inaccessible when environment is changing.
Another way to organize the robot team is to change the team structure after it has formed by environment and the demands of the problem to be solved. It is called the dynamic evolution of the team cooperative relationship. Because the team cooperation system is an open system, environment restrictions and the goal of problem solving will change continuously. So the team cooperative relationship with dynamic evolution ability should adapt to environment better, with better problem solving efficiency and lower computational complexity.
Dynamic evolution of the cooperative relationship between robot teams can be recognized by the following characters: temporary cooperation between teams with same goals, in order to complete complex tasks and share risks and interests. Each robot team focus on the core ability of the team itself and take on the strategies to cooperate with outside teams. The dynamic evolution realization of the cooperative relationship between the robot teams does not mean to organize one more layer beyond the team structure, but to decrease the cost of forming a team by deepen inner cooperation and the interacting system between teams.
Dynamic evolution of the cooperative relationship between robot teams is formed by more than two teams cooperating in a limit period of time to benefit each other, get maximum benefits and sense the unknown environment most quickly with the minimum costs. It optimizes the team and dies with the finishing of the common goal.
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