Knowledge model-based heterogeneous multi-robot system implemented by a software platform

被引：12

作者：

Zhang, Tao ^{[1
]}

Ueno, Haruki

机构：

[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China

[2] Natl Inst Informat, Intelligent Syst Res Div, Tokyo 1018430, Japan

来源：

KNOWLEDGE-BASED SYSTEMS | 2007年 / 20卷 / 03期

关键词：

knowledge model; heterogeneous multi-robot system; software platform; ARCHITECTURE; COORDINATION;

D O I：

10.1016/j.knosys.2006.04.019

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In order to build a heterogeneous multi-robot system that can be regarded as a primitive prototype of a future symbiotic autonomous human-robot system, this paper presents a knowledge model-based heterogeneous multi-robot system implemented by a software platform. With using frame-based knowledge representation, a knowledge model is constructed to describe the features of heterogeneous robots as well as their behaviors according to human requests. The required knowledge for constructing a heterogeneous multi-robot system can be therefore integrated in a single model and shared by robots and users. Based on the knowledge model, the heterogeneous multi-robot system is defined in the Software Platform for Agents and Knowledge Management (SPAK) by use of XML format. With the use of SPAK, the cooperative operation of heterogeneous multi-robot system can be flexibly carried out. The proposed system not only can integrate heterogeneous robots and various techniques for robots, but also can automatically perform human-robot interaction and plan robot behaviors taking into account different intelligence of robots corresponding to human requests. In this paper, an actual heterogeneous multi-robot system comprised by humanoid robots (Robovie, PINO), mobile robot (Scout) and entertainment robot dog (AlBO) is built and the effectiveness of the proposed system is verified by experiment. (c) 2006 Elsevier B.V. All rights reserved.

引用

页码：310 / 319

页数：10

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