协作机器人学的研究现状与发展

a(110015),..,.,.,,,1,.,,,,.,.,.,,,.,.,,.2,,(Multi2robotCoor2dination),80.(),.10,[13].(),.,,.,.,(Centralized).,.,,..20119981ROBOTVol.20,No.1Jan.,1998a1997-05-13©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(Multi2robotCooperation).,..,,.,.,,..,,,..,,,.,,,.,,.,,,.80,,,(decentralized)(distributed).,,,,.(CooperativeRobotics)..3(agent)[4].:(DPS)(Multi2agentSystem)..,,,.,....,..(),.,,,.M.Minsky(TheSocietyofMind).,.,,,.,,,.,0719981©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(Multi2AgentRobotSystem).,(Agent),,,.,,,..80,[518].,IEEER&AIROS,.[2426].,ACTRESS[8]CEBOT[9]GOFER[10]SWARM[11],.SRRS(Self2ReconfigurableRoboticSystems)[12]MARS,CellularRoboticSystemModularRoboticSystem.SRRS().,,.,..SRRSFukudaCEBOT[9].CEBOT,,.,(GroupIntelligence),.DRS(DistributedRoboticSystems)[13]MARS,DRS.G.BeniDRS,SWARM[11,14].SWARM,,,.,[15].,[16],,.,,,[17,18].4,,.:4.1.(Grouparchitecture),.,,17201:©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(),,,.413,.,.,..414,.,.,.,.,reactiveplanning,,,,().415,..,,.2719981©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(),.,..416,.().McFarland[19]:(eusocialbehavior).,.,,....,,,.,,.417,.,,.,,.,(,,).5,.,,.,,.MARSDAI,DAI,,.MARS,.,[20,21],[22],..,CSCW(ComputerSupportedCooperativeWork),(Groupware),..,,.,,,.,37201:©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(HolonicManufactureSystems)[23].HMSHolonic,A2gent,.Holonic:,,,,,,Holonic..6,,.,.,,.1ZhengYF,ChenMZ.TrajectoryPlanningforTwoManipulatorstoDeformFlexibleBeams.RoboticsandAutonomousSystems,1994,122PaljugE,YunX.ExperimentalStudyofTwoRobotArmsManipulatingLargeObjects.IEEETrans,ControlSystemsTechnology,1995,3(2)3ChoiMH.ARealTimeOptimalLoadDistributionforMultipleCooperatingRobots.IEEEConfRoboticsandAutoma2tion,19954.Agent.,1995,22(2)5BohnerP.AMulti2agentApproachtoDistributedControlforTask2levelProgramsforCooperatingManipulators.IROS’946HiraiJ,etal.Agent2orientedandDistributedAssemblyTaskPlanningforMultipleManipulators.IROS’947ZanichelliF,etal.AMulti2agentFrameworkandProgrammingEnvironmentforAutonomousRobotics.IEEEConfRoboticsandAutomation,19948AsamaH,etal.DesignofanAutonomousandDistributedRobotSystem:ACTRESS.ProcIEEEöRSJIROS’89,Tsukuba,1989:2839FukudaT,etal.StructureDecisionMethodforSelfOrganizingRobotsbasedofCellStructrue2CEBOT.ProcIEEE4719981©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.’89,69570010CaloudP,etal.IndoorAutomationwithManyMobileRobots.IROS’90:677211BeniG.TheConceptofCellularRoboticSystem.IEEEIntSymponIntelligentControl,1988:576212ChirijianGS.KinematicsofaMetamorphicRoboticSystem.IEEEConfRoboticsandAutomation,199413BeniG,WangJ.TheoreticalProblemsfortheRealizationofDistributedRoboticSystems.ProcIEEEICRA’91,1914192014JinK,etal.StabilityofSynchronizedDistributedControlofDiscreteSwarmStructures.ProcIEEEICRA94,1033103815SteelsL.CooperationBetweenDistributedAgentsThroughSelf2organization,EuropeanWorkshoponModelingAu2tonomousAgentsinaMulti2AgentWorld,1990,17519516CaoYU,etal.CooperativeMobileRobotics:AntecedentsandDirections.ProcIEEEIROS’95,22623417MataricM.InteractionandIntelligentBehavior,MITAILab.TechnicalReport,AI2TR21495,199418ParkerLE.DesignControlLawsforCooperativeAgentTeams.IEEEICRA’93,58258719McFarlandD.TowardsRobotCooperation.ProcSimulationofAdaptiveBehavior,199420...1992,19(4)21KrausS,etal.MultiagentNegotiationUnderTimeConstrain.ArtificialIntelligence,1995,7522...1995,16(2)23BrusselHV.AboutCIM,ConcurrentEngineeringandMechatronics.IntJAdvancedManufacturingTechnology,1994,924JoftheRoboticsSocietyofJapan,SpecialIssue:Multi2agentRobotSystem.(InJapanese),1992,10(4)25RoboticsandAutonomousSystems,SpecialIssue:DesigningAutonomousAgents,1990,6(122)26RoboticsandAutonomousSystems,SpecialIssue:TheBiologyandTechnologyofIntelligentAutonomousAgents,1995,15(122)STATEOFTHEARTANDFUTUREDIRECTIONSOFCOOPERATIVEROBOTICSWANGYuechaoTANDalong(RoboticsLaboratory,ShenyangInstituteofAutomation,ChineseAcademyofSciences110015)AbstractInrecentyears,theresearchofmultirobotcooperativesystems,especiallybasedontheconceptofmulti2agentsysteminthefieldofDistributedArtificialIntelligence,hasreceivedmuchattentioninrobotics.Inthispaper,thestateoftheartofcooperativeroboticsisreviewed,andthetrendinthisfieldisalsodiscussed.KeywordsMultipleroboticsystems,agent,multi2agentsystem,cooperativerobotics:,37,.:.:,57,.:.57201:©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.