Dynamic Behavior Binding for Multi-Robot Cooperation
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Solution Overview
Problem
Existing systems for cooperative tasks among multiple network-based robots struggle to dynamically adjust to changes in the environment due to limitations in control architecture, particularly in handling heterogeneous robots and dynamic task execution environments.
Innovation Solution
A system utilizing dynamic behavior binding, where conceptual behavior units are stored and used to create robot cooperation application codes independently of physical robots, allowing for dynamic binding of behavior units to specific robot functions, enabling active adjustment to environmental changes without requiring task division, allocation, or inter-robot coordination steps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional centralized control architecture is used, then task execution control is simplified and centralized, but the system cannot actively adjust to changes in dynamic environment
Solution Approach 1:
The patent applies dynamics by making the behavior unit binding dynamic rather than static. The behavior binding object dynamically binds behavior units to robot functions at runtime based on current environmental conditions and task requirements. This allows the centralized control architecture to adapt to changing environments while maintaining its simplified control structure, resolving the contradiction between control simplicity and environmental adaptability.
Solution Approach 2:
The patent changes the parameter of behavior binding from static (pre-defined) to dynamic (runtime-binding). The behavior binding object can rebind behavior units to different robot functions based on environmental changes, task modifications, or robot availability. This parameter change enables the system to maintain centralized control simplicity while gaining adaptability to dynamic environments.
2Ease of operation
If autonomous agent oriented distributed architecture is used, then robots can communicate and coordinate independently, but communication traffic becomes heavy and information processing becomes complex
Solution Approach 1:
The patent introduces a behavior binding object as an intermediary between the centralized control server and individual robots. This intermediary manages the binding between behavior units and robot functions, reducing the need for complex peer-to-peer communication between robots. The server communicates task requirements to the behavior binding object, which then coordinates with individual robots, significantly reducing communication traffic and information processing complexity while maintaining independent robot coordination capabilities.
Solution Approach 2:
The behavior binding object serves multiple functions: it binds behavior units to robot functions, manages robot task allocation, handles dynamic rebinding when conditions change, and coordinates robot activities. This universal component consolidates what would otherwise require complex distributed communication and coordination mechanisms, reducing information overhead while maintaining robot independence.
3Ease of manufacture
If robot cooperation application is created based on actual physical robots, then the system can be directly deployed, but design costs and time increase due to dependency on specific robot configurations
Solution Approach 1:
The patent creates virtual copies of robot functions through behavior units that represent abstracted robot capabilities. Instead of designing applications based on specific physical robot configurations, developers work with standardized behavior units that can be bound to any robot with matching capabilities. This copying approach allows application creation independent of actual robot hardware, reducing design time and costs while maintaining direct deployment capability through the behavior binding object.
Solution Approach 2:
The patent segments robot functionality into independent, reusable behavior units that can be independently designed and tested. Each behavior unit represents a specific robot capability (e.g., movement, manipulation, sensing) that can be bound to different physical robots. This segmentation allows application development to proceed without dependency on specific robot configurations, reducing design time and costs while enabling flexible deployment across different robot platforms.
Data Source
AI summary
The present invention relates to a system for cooperation of multiple mobile robots and a method thereof that allow the multiple mobile robots to cooperatively execute one complicated task. The system and method can use centralized control architecture, create robot cooperation application codes on the basis of conceptual behavior units without depending on actual physical robots, and dynamically bind behavior units used to create the robot cooperation application at the time of executing the robot cooperation application to actual functions of the robots, thereby actively adjusting to changes in a dynamical environment, such as a change in the types, the number, and the functions of robots for cooperation.