The Management of Robot‐Cluster for the Functional Cooperation in Multi Robot Systems

• 발행기관: 동국대학교 정보융합기술원
• 저자명: Young Sik Hong(홍영식) Jin‐ Woo Jung(정진우) Hyun Woo Koo(구현우) Jun Ho Jung(정준호)
• 간행물 정보: 『International Journal of Assistive Robotics and Systems』vol.10 no.2, 3~13쪽, 전체 11쪽
• 주제분류: 공학 > 기타공학
• 파일형태: PDF
• 발행일자: 2009.06.30

영문 초록

Research on low‐level robots has focused recently on improved cooperation and performance via multi‐robot systems. The collective cooperation of low level robots, makes possible problem solving of complicated tasks on a rudimentary level. For smooth cooperation among multi robots, an efficient scheme for robot communication in various environments is required. This paper will show a plausible approach based on physical or functional reconfiguration(s) of objectives in multi robot systems, and proposes an efficient search algorithm for functional reconfiguration. In addition, this study illustrates how the robot itself can determine if a given operative scenario is actually possible via its search for necessary functions in neighbor robots. A description of the cluster manager to control the software and the hardware in multi robot systems is included in this study.

목차

1. Introduction

2. Background

3. Distributed Control forCoordination of Multi‐ robots With Service

4. Conclusions

키워드

software reconfiguration functional reconfiguration multi‐ robot clustering mobile ad‐ hoc wireless network