Complex task oriented multi-robot distributed coordination system
一个面向复杂任务的多机器人分布式协调系统

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.