New task negotiation model of multiple mobile-robots
KE Wende1,2,PENG Zhiping1,CHEN Ke1,CAI Zesu2
1. College of Computer and Electronic Information, Guangdong University of Petrochemical Technology, Maoming Guangdong 525000, China 2. School of Computer Science and Technology, Harbin Institute of Technology, Harbin Heilongjiang 150001, China
Abstract：Concerning the problems of lacking the mind states and task handling capability, low real-time caused by congested bandwidth and slow learning from negotiation history, a task negotiation model for multiple mobile-robots was proposed. Firstly, the basic moving state of robot was shown. Secondly, the states of mind (belief, goal, intention, knowledge update, etc.) and ability (cooperation, capability judgment, task allocation, etc.) based on π calculus for the negotiation of multiple mobile-robots were defined. Thirdly, the negotiation model of multiple mobile-robots was constructed, in which the negotiation period, negotiation task, utility estimation, negotiation allocation protocol, learning mechanism were studied. Finally, the validity of model was proved through experiments of robot soccer.
柯文德 彭志平 陈珂 蔡则苏. 新的多移动机器人任务协商模型[J]. 计算机应用, 2013, 33(02): 346-349.
KE Wende PENG Zhiping CHEN Ke CAI Zesu. New task negotiation model of multiple mobile-robots. Journal of Computer Applications, 2013, 33(02): 346-349.
2013, Vol. 33 
