Robot Heterogeneity Analysis Based on Extenics

摘要：

This paper presents a new method that robot heterogeneities are described by using an extension model based on Extenics,which is a new discipline and a new branch of artificial intelligence.Individual robot is the basic unit of a multi- robot system.The whole system s performance is determined by individual s capability.Heterogeneity determines a robot s difference in behavior and ability.Studying robot s heterogeneity is the foundation for the entire system to achieve the optimum state.This paper first analyses heterogeneous characters of robot generally,then an extension model is established to show heterogeneous characteristics.This extension model is used for task allocation which is based on contract net protocol.At the end,simulation is conducted in a multi-robot system.Simulation results validate this method.

关键词： extension model Extenics heterogeneity task allocation multi robot system

作者: Hao Wu Guohui Tian

作者单位: School of Control Science and Engineering Shandong University Jinan 250061, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）