A Sistributed Scheme for Task Planning and Negotiation in Multi-Robot Systems
نویسنده
چکیده
In this paper, we present and discuss a generic scheme for multi-agent cooperation. It integrates mission planning and task reenement as well as cooperative mechanisms adapted from the Contract Net Protocol framework. The use of this paradigm in a hierarchical manner is also analyzed. In addition, the properties of this cooperative scheme are discussed. Finally, this scheme is illustrated through a simulated system which allows a eet of robots to perform load transfer tasks in a route network environment.
منابع مشابه
Designing a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملImproving Agent Performance for Multi-Resource Negotiation Using Learning Automata and Case-Based Reasoning
In electronic commerce markets, agents often should acquire multiple resources to fulfil a high-level task. In order to attain such resources they need to compete with each other. In multi-agent environments, in which competition is involved, negotiation would be an interaction between agents in order to reach an agreement on resource allocation and to be coordinated with each other. In recent ...
متن کاملDynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1998