Cooperative Behavior Of Robots Research Articles

Distributed Controller Design for Cooperative Robot Systems Based on Hierarchical Task Decomposition

A distributed simulation and control method for humanoid robot systems based on the discrete event net models is proposed. Extended Petri nets are adopted as an effective tool to describe, design and control the cooperative behavior of robots. Based on hierarchical net decomposition, conceptual and detailed Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for the hierarchical coordination of cooperative execution control by multiple robots is proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of robot systems. The upper level system controller and lower level local controllers are concurrently executed, communicating events information (enabled transitions) with each other, so that the cooperative robotic tasks are successfully performed.

Experimental Analysis of Cooperative Behavior of Autonomous Mobile Robots against Congestion

In this paper, cooperative behavior of autonomous mobile robots against congestion is experimentally analyzed through multi-robot simulations. For this purpose, robots behavior regarding velocity is investigated. Two circular systems in which bottlenecks do not exist and exist are the research objects. In the simulation experiments, first off, a simple behavior model is applied to the robots. From the analysis results, behavioral features of the robots depending on two states, i.e., non-congestion and congestion, and presence or absence of bottlenecks are presented. These are criteria for evaluating the effectiveness of behavior models. After that, a proposed behavior model is applied to the robots and the effectiveness of cooperative behavior of the robots is evaluated on the basis of the criteria. Finally, it is shown that the proposed behavior model effectively solves jams or alleviates the influence in the congested systems regardless of bottlenecks.