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Definition 6.
A hierarchical-web multi robot organization structure is a recursive structure.
1. id_ros , a marker of team structure.
2. id_robot, a marker of robot who bears sub-team, namely the robot Team Leader by former identify. Before the robot social organization structure form , the marker is null.
3.ROSi,j)--a sub-team which lies the ith level and the jth position in multi-robot team structure. ROSk (i,j) is the kth element in (i,j)’s sub-team structure and maybe also a sub-team structure . ROS0 (i,j) is the leader of the sub-team structure. On the one hand ROS0 (i,j) carries through coordinates with others, responsible division complicated task and team analysis of the result, on the other hand it also does some work that can be finished. There are several sub-teams in a multi-robot society. While i = 0 it means the highest level of robot society. While ROS(i,j)= f and i ?0, it means a minimum unit of the team structure , namely individual robot.
There are a lot of the cooperative behaviors that refer to the sets of the cooperation relationship and restraint relationship existing between the cooperative robots. These cooperation behaviors form a dynamical net, called cooperative relationship web of multi-robots. 3.2 A description based on Markov processing cooperative relationships
The dynamic evolution process of the robot team cooperative relationship can be seen as the process of robot team changing with the environment and the changing demands of tasks, and the adjustment process of the goals, entities and the cooperative relationship between them. The model of the cooperative goals can be embodied by the changing goals in the environment. The pith of the description of the robot cooperative relationships is to describe whether robots can form cooperative relationships under the new demands of tasks in the environmental tasks. So we use finite Markov chain in transition matrix to describe whether the entities cooperate under new demands of tasks. For any two entities, they are always in one of two states, in cooperation or not. If the cooperative relationship exists, then we set the state as 1; otherwise, the state is 0. If the cooperative relationship exists in time t0, then when confronting new environment demands at t1, the relationship has the probability of P11 to still exist, while there is a probability of P10 that the relationship dies. Here, , 0 = P11, P10 = 1 and P11+ P10 = 1 . If there is no cooperative relationship exists in time t0, then when confronting new environment demands at t1, the probability of having the cooperative relationships is p01, while there is a probability of P00 that the relationship is still not exist. Here, 0 = P00, P01 = 1 and P00 + P01 = 1 . Then we can use the following transition matrix P to describe the cooperative relationships between any robots.
The element of the transcription matrix is derived from Bayesian theorem. We suppose whether or not the cooperative entities cooperate with others is an independent event. And the action set of cooperative relationship between entity CRi and the relating entity CRj when confronting new environment demands is set to
In a similar way,
After the former transitions, and the synthesis of the cooperation of all the cooperative entities, we can get the description of whether or not the cooperative relationship between the entities really changing dynamically with the environment demands. Page 1, 2 , 3, 4
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