Multiagent control of Selfreconfigurable Robots自重构机器人的智能控制.pptVIP

Multiagent control of Self-reconfigurable Robots -Hristo bojinov,Arancha Casal,Tad Hogg Harini Gurusamy Features Identical simple Modules Dynamic adaptation Multiagent Control De-Centralized Control No complex sensors Real time e.g Ant Colony Amoeba Two approaches Combinatorial Search Identify motion of modules 1.Module Specification Not suitable to real time 2.Agent based Control Creating structures with properties Decomposes control problems Assumptions Limited computational capabilities Limited Memory Simple FSM No global broadcast Limited communication Experimental Robot Platform Proteo-Modular self reconfigurable robot Polypod Features Substrate reconfiguration Geometric constraints Dodecahedra Max Internal volume Rotations-120 Complexity-12 face-Actuation Direct Communication Simulations Asynchronous operation Behaviour execution Different random order Denial of movement Notification to control programs No power limits How a module samples from the availabe moves?? Equal probability Directed random move Positive dot product E.g.direction of ball Control Primitives Growth Seed Scents Mode-present FSM Modules-search,seed,Final,Node Recursive branching for Locomotion Manipulation SLEEP SEARCH SEED FINAL NODE-spawns seeds INODE-emit node scent propagates regular scent Dynamic adaptation to external forces Supporting weight on legs Neglect weights of modules 1 level and 2 level branching Fixed Module Transmit scent Root Module IROOT-Avg wt Fmax with Pmax AROOT ROOT-Avg wt Fmin with Pmin Contd.. Probabilistic approach Avoids oscillations Time order -200 cycles Probability to change state-1/R Impact on real world????????? Grasping objects SLEEP SEARCH SEED TOUCH TOUCHSEED FINAL Local minima Stability Physical motion Constraints Surface scent Alter the design Careful reconfiguration rules Conclusion Local simple rules Genetic algorithms FPGA Protein motors The USC/ISI CONRO Project * *