TY - GEN
T1 - Architecture of multi-agent-based multi-operator multi-mobile-manipulator teleoperation system
AU - Yu, Zhenzhong
AU - Yan, Jihong
AU - Zhao, Jie
AU - Gao, Yongsheng
AU - Cai, Hegao
PY - 2008
Y1 - 2008
N2 - Being characteristics of motion, coordination, distribution, non-determinism etc, multi-operator multi-mobile-manipulator teleoperation system has difficulties in controlling and implementation. Multi-Agent-Based architecture of the system can distinctly describe the information interactive relationship between components of the system, and optimize intelligence distribution between human and robot, so it helps to reduce difficulties in controlling and implementation of the system. After the physical structure of the system was analyzed, the system was divided into several sub-systems with given function, and then a Multi-Agent-Based layered architecture with shared control mode of the system was proposed and the function of each Agent was planned. Multi-Agent's mixed communication structure was designed by both of blackboard model and Peer-to-Peer model. According to characteristics of the system, a kind of general mixed architecture for Agent was proposed, and an example of implementation method of Agent was given, then the validity of the mixed architecture was verified by designing experiment.
AB - Being characteristics of motion, coordination, distribution, non-determinism etc, multi-operator multi-mobile-manipulator teleoperation system has difficulties in controlling and implementation. Multi-Agent-Based architecture of the system can distinctly describe the information interactive relationship between components of the system, and optimize intelligence distribution between human and robot, so it helps to reduce difficulties in controlling and implementation of the system. After the physical structure of the system was analyzed, the system was divided into several sub-systems with given function, and then a Multi-Agent-Based layered architecture with shared control mode of the system was proposed and the function of each Agent was planned. Multi-Agent's mixed communication structure was designed by both of blackboard model and Peer-to-Peer model. According to characteristics of the system, a kind of general mixed architecture for Agent was proposed, and an example of implementation method of Agent was given, then the validity of the mixed architecture was verified by designing experiment.
KW - Architecture
KW - Multi-agent
KW - Multi-mobile-manipulator
KW - Teleoperation
UR - https://www.scopus.com/pages/publications/56749125347
U2 - 10.1007/978-3-540-88518-4_3
DO - 10.1007/978-3-540-88518-4_3
M3 - 会议稿件
AN - SCOPUS:56749125347
SN - 3540885161
SN - 9783540885160
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 17
EP - 26
BT - Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
T2 - 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Y2 - 15 October 2008 through 17 October 2008
ER -