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A controller iterative synthesis method for multi-robot systems

A multi-robot, comprehensive method technology, applied in the field of robotics, to achieve the effect of improving the success rate and reducing the cost

Active Publication Date: 2022-01-14
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Currently, there is no research on optimizing the integration process of multi-robot system controllers by extracting information from inter-robot dependencies.

Method used

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  • A controller iterative synthesis method for multi-robot systems
  • A controller iterative synthesis method for multi-robot systems
  • A controller iterative synthesis method for multi-robot systems

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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] When the designer writes the GR(1) specification for the robot controller, if the environmental constraints are too loose (that is, the specification does not describe the environment sufficiently), it means that the system needs to face more situations during the game, making it impossible to calculate the system The winning strategy of , causing the controller to fail to be synthesized. This situation is more likely to happen in a multi-robot system. If the number of robots is large, especially when the behavior of robots can affect each other, it is difficult to sort out the dependencies between them when writing the specification. For example, if an action yi of a robot ri can be observed by a sensor xj of another robot rj, and rj's behavior is relate...

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Abstract

The invention discloses a controller iterative synthesis method oriented to a multi-robot system. In the set G, the strongly connected components Gi are selected in turn, and the robots that depend on the outside are extracted from the information and the specifications are generated to obtain a new specification, and then the controllers of all the robots are synthesized. The robot of the robot performs information extraction and protocol generation to obtain a new protocol. If the dependent robot controller is updated, the controllers of all the robots are synthesized, and finally the selected strongly connected component Gi is removed from the set G , repeat this step until the set G is empty. The present invention can automatically generate specifications for robots with dependencies and generate optimized controllers for multi-robot systems.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-robot system-oriented controller iterative synthesis method. Background technique [0002] With the rapid development of the robot industry in recent years, robots with independent decision-making capabilities have been widely used in practical scenarios such as intelligent logistics, unmanned driving, and rescue operations. In such scenarios that require the robot to make reasonable decisions based on the external environment, the robot's controller plays a key role. How to design control strategies according to various tasks that robots need to complete, and how to automatically realize the synthesis of controller programs is one of the core issues in robotics. From an abstract point of view, the controller of a robot can be regarded as a device that receives external environmental information and gives action instructions that meet specific requirements according to the environm...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G06F17/11
CPCB25J9/16B25J9/1682G06F17/11
Inventor 董威史浩赵旭东李睿陈立前尹良泽陈振邦
Owner NAT UNIV OF DEFENSE TECH