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Authors : Shu-qin Li , Lan Shuai , Xian-yi Cheng , Zhen-min Tang & Jing-yu Yang
Department of Computer Science of Nanjing University of Science and Technology Nanjing, P.R. China
Department of Computer Science of Beijing Information Science &Technology University,Beijing, P.R. China Abstract:
At present, the research on Robot Team Cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of Robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from cooperative entity layer, ability layer and relative layer we research team formation and cooperative mechanism, and discuss how to optimize relative action sets during the evolution. The Dynamic Evolution model of Robot team and cooperative relationships between robot teams proposed and described in this paper can not only generalize the robot team as a whole, but also depict the dynamic evolving process quantitatively. Users can also make the prediction of the cooperative relationship and the action of the robot team encountering new demands based on this model. 1. Introduction
At present, the research of multi-robot has been one of the most popular topics in the Robotics realm. In a dynamic, complicated and unknown environment, it is challenging to organize and control Robots to finish a task that Individual robot hardly do. To make the multi-robot system operate effectively, we should organize it and control it with proper mechanisms. The issue on how to organize and control the multi-robot system has been extensively studied in [Wei-Min Shen & Behnam Salemi 2002] [Torbjorn S.Dahl Maja J. Mataric etc 2002][Tang zhen-min 2002]. But most of these works only focus on individual behavior, cooperation between individuals and between individual and groups, with few works on the cooperation in teams. In the same time, the description methods or models are also very rare, that can qualitatively describe how the robot teams are organized in the changing dynamic environment. From the social means of topology, structure and organization, this paper studies the multi-robot organization formation and running mechanisms. It presents and describes in detail a Hierarchical-web Recursive Organization Model (HWROM). Based on Markov processing and evolutionary computing, this paper proposed a dynamic evolutional model on robot team cooperation, in order to give a quantitative description on the dynamic evolving process of robot team organization and relationships. Composition of the robot team is described in section 2, team cooperation of the robot teams is discussed in section 3, dynamic evolution model of the cooperation between robot teams is proposed and discussed in section 4. 2. General description on robot teams
Through the evolution and development, human society has been developed into a local and hierarchical structure. The basis of the society is individuals with various backgrounds, abilities, knowledge levels and specialties. The behavior and efficiency of the local team decided by different individuals, cultural backgrounds, technology- levels and different management mechanisms. This character, in some sense, provides the organization forms of Multi-robot group bionic evidence. Definition 1
Automatic moving robot: automatic moving robot is a robot that can sense the state of itself and the local environment through the Sensors bringing limited communication equipment, moving toward the goals automatically in the environments with obstacles (static or moving) and finishing certain works. The robot can be made of electromechanical devices (action unit, executing unit, sensing unit and control units), computer and information processing system (intelligent decisionmaking, action control, moving control, environment sensing and communicating mechanics). We use R to represent automatic moving robot. And we call robot as individual robot. Page 1, 2, 3,4
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