在机器人球赛中多智能体系统的发展英文及翻译.docVIP

英文资料及中文翻译 Development of a multi-agent system for robot soccer game 一、 Introduction As modern industrial society progresses, the needs for useful robots are growing. Especially, mobile robots are special issue that gradually expands its realm in industrial and studying topics. Researches on mobile robots have been mainly concentrated on single mobile robot. But, the development of multi-agent system is strongly needed by the growth of complexity of tasks for robots to perform. The multi-agent systems have been studied by many researchers[l-3]. Generally, multi-agent system is defined as the system composed of more than 2 robots [4] and performs the given task by cooperation. The system has some different factors compared with single robot system. First, the environment for robots to confront is dynamic. In multi-agent system, the robots themselves constitute dynamic environment, because each robot should recognize the other robots as moving obstacles. Many previous researches on mobile robots assume that the environment is static, even for the researches on single mobile robot[5,6]. Second, since the system performs given task by cooperation, it is necessary to make overall system plan for roles of robots. One of the obvious characteristics of the multi-agent system is cooperation - for example, 4-5 robots carry furniture [7]. To cooperate one another, the changes of robots position must be predictable. There are some ways to know the robots position. For example, robots communicate their position one after another, or a supervisor detects robots position and transmits them to robots. It is related to communication problem. Third, each component of the system such as robots, a supervisor, sensors, communication equipment is well developed, because they influence the overall system performance. Also, it is necessary to adopt appropriate architecture. Robot soccer is an interesting domain for studying the multi-agent system. The players must work together: It means a