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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >A Decentralized Architecture for Multi-Robot Systems Based on the Null-Space-Behavioral Control with Application to Multi-Robot Border Patrolling
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A Decentralized Architecture for Multi-Robot Systems Based on the Null-Space-Behavioral Control with Application to Multi-Robot Border Patrolling

机译：基于空空间行为控制的多机器人系统分散架构及其在多机器人边界巡逻中的应用

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摘要

This paper presents a control architecture for multi-robot systems. The proposed architecture has been developed in the framework of the Null-Space-based-Behavioral (NSB) control, a competitive-collaborative behavior-based control approach. The standard NSB statically determines a set of suitably defined elementary tasks (behaviors) and their priorities, i.e., they cannot be dynamically changed according to mission requirements and environmental constraints. In this paper, a three layer architecture has been designed in order to avoid such a drawback. The single robotic unit (agent) performing the mission is placed on the lower layer. In the middle layer, suitably defined elementary behaviors are defined; these elementary behaviors are then combined, via the NSB approach, in more complex actions. The upper layer is a Supervisor in charge of dynamically selecting the proper action to be executed. As further contribution, the architecture has been applied to the multi-robot border patrolling mission to generate a decentralized, deterministic and non-communicative solution that is robust to faults, and prevents collisions, even in the case of high robot density. Finally, the simulations on a team composed by a large number of robots, and experiments on a real setup, composed by three Pioneer-3DX robots, are provided.
机译：本文提出了一种用于多机器人系统的控制架构。所提出的体系结构是在基于空空间的行为（NSB）控制的框架中开发的，该控制是一种基于竞争性协作行为的控制方法。标准NSB静态地确定一组适当定义的基本任务（行为）及其优先级，即，它们不能根据任务要求和环境限制而动态更改。在本文中，已经设计了三层体系结构以避免这种缺陷。执行任务的单个机械手单元（代理）位于下层。在中间层中，定义了适当定义的基本行为。然后，通过NSB方法将这些基本行为合并为更复杂的动作。上层是主管，负责动态选择要执行的正确操作。作为进一步的贡献，该体系结构已应用于多机器人边界巡逻任务，以生成分散的，确定性的，非通信的解决方案，即使在高机器人密度的情况下，该解决方案也可以对故障进行鲁棒的处理并防止碰撞。最后，提供了由大量机器人组成的团队的模拟，以及由三个Pioneer-3DX机器人组成的真实设置的实验。

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