%0 Journal Article
%T Complex task oriented multi-robot distributed coordination system<br>一个面向复杂任务的多机器人分布式协调系统
%A CHEN Wei-dong
%A XI Yu-geng
%A GU Dong-lei
%A DONG Sheng-long
%A <br>陈卫东
%A 席裕庚
%A 顾冬雷
%A 董胜龙
%J 控制理论与应用
%D 2002
%I 
%X Based on the multi-agent system theory, we studied the theory, method and technology of the multi-robot distributed coordination systems performing complex tasks in uncertain environment. Focusing on the fundamental theories and key technologies of multi-robot distributed coordination systems, we proposed some novel ideas, including hierarchical & hybrid coordination architecture, network-based communication as well as integration of planning and reactive control based on the finite state automata (FSA). Particular focus is placed on the task complexity and environment uncertainty. Building a full physical experimental system of the multi_robot system composed of four autonomous mobile robots, a number of key techniques have been developed and integrated such as distributed planning, control, sensing, communication, coordination and cooperation strategies, etc. Using the real multi-robot experimental testing platform, our research faced the practical application problems directly. The experiment results demonstrate the application of our distributed coordination approach for a group of mobile robots performing different tasks such as multi-robot formation and cooperative object transport.
%K multi-robot
%K coordination and cooperation
%K multi-agent
%K distributed autonomous systems
%K hierarchical & hybrid coordination architecture<br>多机器人
%K 协调与合作
%K 多智能体
%K 分布式自治系统
%K 递阶混合式协调结构
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=D48B4E5106710D70&yid=C3ACC247184A22C1&vid=2A8D03AD8076A2E3&iid=E158A972A605785F&sid=42D7028D961473F8&eid=25467A5A28500A25&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=7&reference_num=7