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A method for automatic synthesis of multi-robot distributed controllers from global tasks

A distributed controller, multi-robot technology, applied in the directions of comprehensive factory control, comprehensive factory control, program control, etc., can solve problems such as difficulty in application, reduce the scale of the solution, synthesize multi-robot controller The protocol is concise, improve The effect of computational efficiency

Active Publication Date: 2021-10-15
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, since the complexity of the synthesis has reached the double exponential level of the formula length, it is difficult to apply the synthesis to the actual software engineering.

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  • A method for automatic synthesis of multi-robot distributed controllers from global tasks
  • A method for automatic synthesis of multi-robot distributed controllers from global tasks
  • A method for automatic synthesis of multi-robot distributed controllers from global tasks

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0046] like figure 1 As shown, the method for automatically synthesizing a multi-robot distributed controller from a global task of the present invention comprises the following steps:

[0047] S1) Obtain a synthetic multi-robot controller specification, which includes a multi-robot model modeled as a set of robot nodes and a global task described by the GR(1) specification;

[0048] S2) Extract and synthesize the global tasks in the multi-robot controller specification, and synthesize the global strategy A about the global tasks through the GR(1) synthesis algorithm G , according to the preset sensor proposition set Ii and the preset actuator proposition set Oi in each robot node to generate a proposition seti ,O i >, will global policy A G The set of propos...

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Abstract

The invention discloses a method for automatically synthesizing a multi-robot distributed controller from a global task, comprising: obtaining a synthesizing multi-robot controller protocol; Synthesize the global strategy about the global task, project the global strategy to the proposition set of each robot node to generate the local frame of each robot; calculate the communication proposition set C of each robot separately i , with the set of communication propositions C i The local strategy of each robot is obtained by supplementing the propositions on the migration side of the corresponding local frame; each robot obtains the available controller according to the local strategy, and uses the SAT solver to solve the successor of the robot respectively. The invention can automatically and efficiently generate a controller and a communication strategy for a robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for automatically synthesizing multi-robot distributed controllers from global tasks. Background technique [0002] With the rapid development of the "Industry 4.0" revolution, the field of cyber-physical systems (Cyber-Physical Systems, CPS) will undoubtedly be a strategic highland in the future industrial development and transformation, especially unmanned systems, including UAVs (Unmanned Aerial Systems , UAS) and smart cars (Smart Cars) and other artificial intelligence-based CPS. It deeply integrates technologies such as environment perception, data analysis, identity verification and network interconnection. As a highly integrated body of physical systems, heterogeneous networks and information technology, unmanned systems integrate 3C (Computation, Communication, Control) capabilities, real-time perception and feedback control technologies. An unmanned system is an ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/418
CPCG05B19/41875G05B2219/32368Y02P90/02
Inventor 董威李睿陈立前尹良泽陈振邦赵旭东史浩
Owner NAT UNIV OF DEFENSE TECH
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