Đang chuẩn bị nút TẢI XUỐNG, xin hãy chờ
Tải xuống
Tham khảo tài liệu 'innovations in robot mobility and control - srikanta patnaik et al (eds) part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 8 P.U. Lima and L.M. Custódio represented by first order formulas. Fig. 1.2. zooms the Behaviour Execution Level. From the figures it is noticeable that the organization level distributes roles i.e. sets of allowed behaviours per team members. The coordination level dynamically switches between behaviours enabling one behaviour per robot at a time similarly to 32 but considering also relational behaviours where some sort of synchronization among the involved robots is necessary. The execution level implements behaviours by finite state machines whose states correspond to calls to primitive tasks i.e. actions such as kicking the ball navigation functions and algorithms e.g. plan a trajectory . The functional architecture main concepts operators behaviours primitive tasks blackboard are not much different from those present in other available architectures 32 51 . However the whole architecture provides a complete framework able to support the design of autonomous multi-robot systems from logical and or quantitative specifications at the task level. Similar concepts can be found in 18 but the emphasis there is more on the design from specifications rather than on the architecture itself. Our architecture may not be adequate to ensure specifications concerning tightly coupled coordinated control e.g. as those required for some types of robot formations such as when transporting objects by a robot team even though this class of problems can be loosely addressed by designing adequate relational behaviours. 1 Multi-Robot Systems 9 Fig. 1.1. Functional architecture from an operator standpoint The software architecture developed for the soccer robots project has been defined so as to support the development of the described behavioural and functional architecture and is based on three essential concepts micro-agents blackboard and plugins. Each module of the software architecture was implemented by a separate process using the parallel programming technology of threads. In
