多机器人控制体系结构研究与实现
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摘要
随着机器人技术的发展，人们将更多的精力转移到多机器人系统中。事实证明，使用多机器人系统可以更好的完成复杂任务。多机器人系统的研究尚属起步阶段。控制结构、通信、冲突解决是多机器人系统的主要研究内容。本文对多机器人系统的控制体系结构与通信做了初步研究。
本文首先介绍了智能体及多智能体系统，多智能体机器人系统(MARS)是多智能体概念在机器人学领域的一个具体应用。我们对现有多机器人系统体系结构进行研究，结合多智能体系统的相关知识，提出了基于多层次智能体网络的混合分层体系结构。然后，我们研究了多机器人系统的协调与协作，提出了基于树／图的协作模型。我们对现有实时调度算法进行分析，并对蚁群遍历算法进行改进，提出了适于该模型的实时调度算法。我们将模型和算法应用于多机器人系统中并给出实现过程。多机器人系统的控制与协作离不开通信，我们给出了支持多智能体机器人系统的通信模型，整体上采用动态C／S模型。我们分析了该通信模型，设计并实现了通信接口。
最后，我们对协作模型、调度算法和通信进行了模拟仿真实验，实验证明，本文提出的基于树／图的协作模型是合理的，系统实现了调度算法，采用算法对模拟任务集进行合理调度，并对实验结果进行分析。
With the development of robot technology, people pay more and more attention to MRS (Multi Robotic System). It is proved that using MRS can achieve complicated task better. The research of MRS has just begun. Architecture of control, communications and resolve of conflict are main subjects of MRS. This paper will study architecture of control and communications.
First, we introduce agent and MAS (Multi Agent System). MARS (Multi-Agent Robotic System) is a concrete application of Multi-Agent conception. We research existing architecture of MRS, and then a uniform model based on HAN (Hierarchical Agent Networks) is proposed, which is combined with theory of MAS. Second, we research harmonization and collaboration in MRS and carry out collaboration model based on tree/map. We analyze existing method of real-time scheduling and improve Ant Algorithm. Then, we proposed a new method of real-time scheduling which adapt for the collaboration model above. We applied the model and algorithm in MRS and realize them. Communication is vital in MRS. We propose the model of communications that supports MARS. It's based on dynamic C/S model. We analyze the model, then design and realize communication system.
Finally, we carry out a simulate experiment with collaboration model, method of scheduling and communications. The results prove that the theoretical model we propose is reasonable. The system is analyzable and controllable completely using the method we propose.
本文首先介绍了智能体及多智能体系统，多智能体机器人系统(MARS)是多智能体概念在机器人学领域的一个具体应用。我们对现有多机器人系统体系结构进行研究，结合多智能体系统的相关知识，提出了基于多层次智能体网络的混合分层体系结构。然后，我们研究了多机器人系统的协调与协作，提出了基于树／图的协作模型。我们对现有实时调度算法进行分析，并对蚁群遍历算法进行改进，提出了适于该模型的实时调度算法。我们将模型和算法应用于多机器人系统中并给出实现过程。多机器人系统的控制与协作离不开通信，我们给出了支持多智能体机器人系统的通信模型，整体上采用动态C／S模型。我们分析了该通信模型，设计并实现了通信接口。
最后，我们对协作模型、调度算法和通信进行了模拟仿真实验，实验证明，本文提出的基于树／图的协作模型是合理的，系统实现了调度算法，采用算法对模拟任务集进行合理调度，并对实验结果进行分析。
With the development of robot technology, people pay more and more attention to MRS (Multi Robotic System). It is proved that using MRS can achieve complicated task better. The research of MRS has just begun. Architecture of control, communications and resolve of conflict are main subjects of MRS. This paper will study architecture of control and communications.
First, we introduce agent and MAS (Multi Agent System). MARS (Multi-Agent Robotic System) is a concrete application of Multi-Agent conception. We research existing architecture of MRS, and then a uniform model based on HAN (Hierarchical Agent Networks) is proposed, which is combined with theory of MAS. Second, we research harmonization and collaboration in MRS and carry out collaboration model based on tree/map. We analyze existing method of real-time scheduling and improve Ant Algorithm. Then, we proposed a new method of real-time scheduling which adapt for the collaboration model above. We applied the model and algorithm in MRS and realize them. Communication is vital in MRS. We propose the model of communications that supports MARS. It's based on dynamic C/S model. We analyze the model, then design and realize communication system.
Finally, we carry out a simulate experiment with collaboration model, method of scheduling and communications. The results prove that the theoretical model we propose is reasonable. The system is analyzable and controllable completely using the method we propose.
引文
1 战强，王树国，陈在礼．世界多机器人技术的研究现状
2 王越超、谈大龙．协作机器人学的研究现状与发展．机器人．Jan．1998 20(1)：69～74
3 Fakuda T, et al. Structure Decision Method for Self Organizing Robots based of Cell Structure-CEBOT. Proc IEEE lCRA'99:695～700
4 Beni G. The Concept of Cellular Robotic System. 1988. IEEE Int Symp on Intelligent Control.: 57～62
5 Jin K, et al. Stability of Synchronized Distributed Control of Discrete Swarm Structure. Proc IEEE ICRA'91: 1914～1920
6 Asama H, et al. Design of an Autonomous and Distributed Robot System. 1989. ACTRESS. Proc IEEE/RSJ IROS'89. Tsukuba: 283
7 Caloud P, et al. Indoor Automation with Many Mobile Robots. IROS'90: 67～72
8 Get from: http://www-robotics.usc.edu/
9 Mataric M. Interaction and Intelligence Behavior. MIT AI Lab. Technical Report. 1994. AI-TR-1495
10 R. C. Arkin, T.R. Balch. Cooperative Multi-Agent Robotic Systems
11 T.R.Balch, R.C. Arkin. Motor Schema-Based Formation Control for Multi-agent Robotic Team. First International Conference on Multi-Agent System. June 1995. San Fracisco: 10～16
12 R.C. Arkin. Navigational Path Planning for a Vision-based Mobile Robot. 1989. Robotic 7:49～163
13 R.C. Arkin. Motor Schema Based Mobile Robot Navigation. 1989. International Jounal of Robotics Reserch. 8(4):92～112
14 R.C. Arkin, T.R. Balch. Aura: Principles and Practice in Review. 1997. Journal of Experimental and Theoretical Artificial Itelligence. 9(2)
15 T.R. Collins, A.Henshaw, R.C. Arkin, W.Wester, Nerrow Aisle. Mobile Robot Navigation in Hazardous Environments. Proc. 1994 American Nuclear Society Annual Meeting(New Orleans). June 1994
16 T.R.Collins, T.R.Balch. Teaming Up: Georgia Tech's Multi-robot Competition Teams. Proceeding of Fourteenth National Conference on Artificial Intelligence. July 1997
17 R.C. Arkin. Behavior-based Robotics. MIT Press. to appear April. 1998
18 L.Matthies, et al. A Portable, Autonomous, Urban Reconnaissance Robot. Publication Unknown
19 M.Hebert, B.Bolles, B.Gothard, L.Matthies, M.Rosenbloom. Mobility for the Unmanned Ground Vehicle. Reconnaissance, Surveillance and Target Acquisition(RTSTA) for the Unmanned Ground Vehicle. O.Firscheim(ed). PRC Inc. 1996
20 M.Hebert, A.Stentz, C. Thorp, Mobility Planning for Autonomous Navigation Multiple Robots in Unstructured Environments. Proc. t998 ISIC/CIRA/ISAS JOINT Conference Gaithersburg, MD. September 14～17, 1998
21 R. Brooks. Intelligence without Reason. Sydney. Australia. 1991. IJCAI-91: 569～595
22 R. Brooks. A Robust Layered Control System for A Mobile Robot. 1986. IEEE Journal of Robotics and Automation. RA-2(1): 14
23 Shi Zhongzhi, Wang Tao, Tian Qijia, Tang Hui. MAPE: Multi-Agent Processing Environment. Zhongzhi Shi (ed.) Proceedings of PRICAI'94. Beijing: International Academic Publisher. 1994
24 Shi, Zhongzhi, Wang Tao, Wang Wenjie, Tian Qijia. A Flexible Architecture for Multi-Agent System. In: PACES'95. 1995
25 汪涛，史忠植，田启家，王文杰．现实世界中的主体的一种复合式结构．《软件学报》．第7卷增刊．1996
26 史忠植．智能主体及其应用．第一版．北京：科学出版社，2000
27 田启家．关于多主题的逻辑基础．中国科学院计算技术研究所．1996
28 Patil, R. S., et al. The DARPA knowledge sharing effort: Progress report. In: C. Rich, W. Swartout and B.Nebel(eds.). Proc. of Knowledge. 1992
29 史忠植．知识信息系统处理技术和方法——知识信息系统环境．课题鉴定材料．1996
30 史忠植．面向主体的软件开发环境—AOSDE．技术报告．中国科学院计算技术研究所．1998
31 赵忆文，谈大龙．多移动机器人合作系统中的单机控制体系结构研究．Nov．1999．机器人．21(6)：421～425
32 焦文品，史忠植．多主体间的协作过程研究
33 Xu. J., Parnas, D.. Scheduling Processes With Release Times, Deadlines, Precedence, and Exclusin Relations. 1990. IEEE Trans. On Software Engineering. 16(3): 360～369
34 D. B. Stewar, D. E. Schmitz, and P. K. Khosla. The Chimera Ⅱ Real-Time Operating System for Advanced Sensor-Based Control Applications. 1992. IEEE Transactions on Systems. Man, Cybernetics. 20(6): 1282～1295
35 Lehoczky, J., L. Sha, Y. Ding. The Rate Monotonic Scheduling Algorithm: Exact Characterization and Average Case Behavior. Dec. 1989. Proceeding 10th IEEE Real-Time Systems Symposium. Santa Monica. CA: 166～171
36 Strosnider, J. K.. Highly Responsive Real-Time Token Rings. PhD thesis. Department of Electrical and Computer Engineering. Carnegie Mello University. 1988
37 Torbjrn S. Dahl, Maja J. Mataric, and Gaurav S. Sukhatme. Multi-Robot Task-Allocation through Vacancy Chains. Taipei, Taiwan. 2003. Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA'03): 14-19
38 Universit(?) Libre de Bruxelles. Ant colonies for the traveling salesman problem. Accepted for publication in BioSystems. 1997
39 Universit(?) Libre de Bruxelles. Ant Colony System: A Cooperative Learning Approach to the Traveling Salesman Problem. Accepted for publication in the IEEE Transactions on Evolutionary Computation. Vol. 1. No. 1. 1997
40 Simmons, R.. Task-Level Control for Autonomous Robots. Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94). Houston, TX. Mar 21, 22 1994
41 王斌，张尧学，陈松乔．Agent通信模型．中南工业大学学报．33(2)：209～213
42 胡志刚，龙海涛，钟掘．多智能体系统中信使功能的设计与实现．计算机工程．29(2)：53～54，179
43 李智军，周晓，吕恬生．基于群体协作的分布式多机器人通信系统的设计与实现．机器人．22(4)：300～304，328
44 Brian P. Gerkey, Maja J Mataric. Principled Communication for Dynamic Multi-Robot Task Allocation. Experimental Robotics Ⅶ, LNCIS 271: 353～362
45 Brian P. Gerkey, Maja J Mataric. Murdoch: Publish/Subscribe Task Allocation for Heterogeneous Agents. Proceedings of Autonomous Agents. June 3-7,2000:203～204
46 Dani Goldberg, Maja J Mataric. Design and Evaluation of Robust Behavior-Based Controllers for Distributed Multi-Robot Collection Tasks
47 Brian P. Gerkey, Maja J Mataric. Multi-Robot Task Allocation: Analyzing the
Complexity and Optimality of Key Architectures. Proceedings of the IEEE International Conference on Robotic and Automation(ICRA 2003)
48 Kristina Lerman, Aram Galstyan, Alcherio Martinoli, Auke Jan Ijspeert. A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems
49 Brian P. Gerkey, Maja J Mataric. A Framework for Studying Multi-Robot Task Allocation. Proceedings of the NRL Workshop on Multi-Robot Systems. Washington, DC, March 17～19, 2003
50 Brian P. Gerkey, Maja J Mataric. Sold!: Auction Methods for Multi-Robot coordination. IEEE Transactions on Robotics and Automation. Vol 18, NO. 5: 758～768
51 Caroline Gagne, Marc Gravel, Wilson L. Price. A Look-Ahead Addition to the Ant Colony Optimization Metaheuristic and Its Application to An Industrial Scheduling Problem
52 Torbjorn S. Dahl, Maja J. Mataric, Gaurav S. Sukhatme. Scheduling with Group Dynamics: a Multi-R0bot Task Allocation Algorithm based on Vacancy Chains
2 王越超、谈大龙．协作机器人学的研究现状与发展．机器人．Jan．1998 20(1)：69～74
3 Fakuda T, et al. Structure Decision Method for Self Organizing Robots based of Cell Structure-CEBOT. Proc IEEE lCRA'99:695～700
4 Beni G. The Concept of Cellular Robotic System. 1988. IEEE Int Symp on Intelligent Control.: 57～62
5 Jin K, et al. Stability of Synchronized Distributed Control of Discrete Swarm Structure. Proc IEEE ICRA'91: 1914～1920
6 Asama H, et al. Design of an Autonomous and Distributed Robot System. 1989. ACTRESS. Proc IEEE/RSJ IROS'89. Tsukuba: 283
7 Caloud P, et al. Indoor Automation with Many Mobile Robots. IROS'90: 67～72
8 Get from: http://www-robotics.usc.edu/
9 Mataric M. Interaction and Intelligence Behavior. MIT AI Lab. Technical Report. 1994. AI-TR-1495
10 R. C. Arkin, T.R. Balch. Cooperative Multi-Agent Robotic Systems
11 T.R.Balch, R.C. Arkin. Motor Schema-Based Formation Control for Multi-agent Robotic Team. First International Conference on Multi-Agent System. June 1995. San Fracisco: 10～16
12 R.C. Arkin. Navigational Path Planning for a Vision-based Mobile Robot. 1989. Robotic 7:49～163
13 R.C. Arkin. Motor Schema Based Mobile Robot Navigation. 1989. International Jounal of Robotics Reserch. 8(4):92～112
14 R.C. Arkin, T.R. Balch. Aura: Principles and Practice in Review. 1997. Journal of Experimental and Theoretical Artificial Itelligence. 9(2)
15 T.R. Collins, A.Henshaw, R.C. Arkin, W.Wester, Nerrow Aisle. Mobile Robot Navigation in Hazardous Environments. Proc. 1994 American Nuclear Society Annual Meeting(New Orleans). June 1994
16 T.R.Collins, T.R.Balch. Teaming Up: Georgia Tech's Multi-robot Competition Teams. Proceeding of Fourteenth National Conference on Artificial Intelligence. July 1997
17 R.C. Arkin. Behavior-based Robotics. MIT Press. to appear April. 1998
18 L.Matthies, et al. A Portable, Autonomous, Urban Reconnaissance Robot. Publication Unknown
19 M.Hebert, B.Bolles, B.Gothard, L.Matthies, M.Rosenbloom. Mobility for the Unmanned Ground Vehicle. Reconnaissance, Surveillance and Target Acquisition(RTSTA) for the Unmanned Ground Vehicle. O.Firscheim(ed). PRC Inc. 1996
20 M.Hebert, A.Stentz, C. Thorp, Mobility Planning for Autonomous Navigation Multiple Robots in Unstructured Environments. Proc. t998 ISIC/CIRA/ISAS JOINT Conference Gaithersburg, MD. September 14～17, 1998
21 R. Brooks. Intelligence without Reason. Sydney. Australia. 1991. IJCAI-91: 569～595
22 R. Brooks. A Robust Layered Control System for A Mobile Robot. 1986. IEEE Journal of Robotics and Automation. RA-2(1): 14
23 Shi Zhongzhi, Wang Tao, Tian Qijia, Tang Hui. MAPE: Multi-Agent Processing Environment. Zhongzhi Shi (ed.) Proceedings of PRICAI'94. Beijing: International Academic Publisher. 1994
24 Shi, Zhongzhi, Wang Tao, Wang Wenjie, Tian Qijia. A Flexible Architecture for Multi-Agent System. In: PACES'95. 1995
25 汪涛，史忠植，田启家，王文杰．现实世界中的主体的一种复合式结构．《软件学报》．第7卷增刊．1996
26 史忠植．智能主体及其应用．第一版．北京：科学出版社，2000
27 田启家．关于多主题的逻辑基础．中国科学院计算技术研究所．1996
28 Patil, R. S., et al. The DARPA knowledge sharing effort: Progress report. In: C. Rich, W. Swartout and B.Nebel(eds.). Proc. of Knowledge. 1992
29 史忠植．知识信息系统处理技术和方法——知识信息系统环境．课题鉴定材料．1996
30 史忠植．面向主体的软件开发环境—AOSDE．技术报告．中国科学院计算技术研究所．1998
31 赵忆文，谈大龙．多移动机器人合作系统中的单机控制体系结构研究．Nov．1999．机器人．21(6)：421～425
32 焦文品，史忠植．多主体间的协作过程研究
33 Xu. J., Parnas, D.. Scheduling Processes With Release Times, Deadlines, Precedence, and Exclusin Relations. 1990. IEEE Trans. On Software Engineering. 16(3): 360～369
34 D. B. Stewar, D. E. Schmitz, and P. K. Khosla. The Chimera Ⅱ Real-Time Operating System for Advanced Sensor-Based Control Applications. 1992. IEEE Transactions on Systems. Man, Cybernetics. 20(6): 1282～1295
35 Lehoczky, J., L. Sha, Y. Ding. The Rate Monotonic Scheduling Algorithm: Exact Characterization and Average Case Behavior. Dec. 1989. Proceeding 10th IEEE Real-Time Systems Symposium. Santa Monica. CA: 166～171
36 Strosnider, J. K.. Highly Responsive Real-Time Token Rings. PhD thesis. Department of Electrical and Computer Engineering. Carnegie Mello University. 1988
37 Torbjrn S. Dahl, Maja J. Mataric, and Gaurav S. Sukhatme. Multi-Robot Task-Allocation through Vacancy Chains. Taipei, Taiwan. 2003. Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA'03): 14-19
38 Universit(?) Libre de Bruxelles. Ant colonies for the traveling salesman problem. Accepted for publication in BioSystems. 1997
39 Universit(?) Libre de Bruxelles. Ant Colony System: A Cooperative Learning Approach to the Traveling Salesman Problem. Accepted for publication in the IEEE Transactions on Evolutionary Computation. Vol. 1. No. 1. 1997
40 Simmons, R.. Task-Level Control for Autonomous Robots. Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94). Houston, TX. Mar 21, 22 1994
41 王斌，张尧学，陈松乔．Agent通信模型．中南工业大学学报．33(2)：209～213
42 胡志刚，龙海涛，钟掘．多智能体系统中信使功能的设计与实现．计算机工程．29(2)：53～54，179
43 李智军，周晓，吕恬生．基于群体协作的分布式多机器人通信系统的设计与实现．机器人．22(4)：300～304，328
44 Brian P. Gerkey, Maja J Mataric. Principled Communication for Dynamic Multi-Robot Task Allocation. Experimental Robotics Ⅶ, LNCIS 271: 353～362
45 Brian P. Gerkey, Maja J Mataric. Murdoch: Publish/Subscribe Task Allocation for Heterogeneous Agents. Proceedings of Autonomous Agents. June 3-7,2000:203～204
46 Dani Goldberg, Maja J Mataric. Design and Evaluation of Robust Behavior-Based Controllers for Distributed Multi-Robot Collection Tasks
47 Brian P. Gerkey, Maja J Mataric. Multi-Robot Task Allocation: Analyzing the
Complexity and Optimality of Key Architectures. Proceedings of the IEEE International Conference on Robotic and Automation(ICRA 2003)
48 Kristina Lerman, Aram Galstyan, Alcherio Martinoli, Auke Jan Ijspeert. A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems
49 Brian P. Gerkey, Maja J Mataric. A Framework for Studying Multi-Robot Task Allocation. Proceedings of the NRL Workshop on Multi-Robot Systems. Washington, DC, March 17～19, 2003
50 Brian P. Gerkey, Maja J Mataric. Sold!: Auction Methods for Multi-Robot coordination. IEEE Transactions on Robotics and Automation. Vol 18, NO. 5: 758～768
51 Caroline Gagne, Marc Gravel, Wilson L. Price. A Look-Ahead Addition to the Ant Colony Optimization Metaheuristic and Its Application to An Industrial Scheduling Problem
52 Torbjorn S. Dahl, Maja J. Mataric, Gaurav S. Sukhatme. Scheduling with Group Dynamics: a Multi-R0bot Task Allocation Algorithm based on Vacancy Chains
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