The Study, Based On Real-time Communication Of Multi-agent Robot System

The conception of Multi-agent is derived from DAI(Distributed Artificial Intelligence ), MARS(Multi-Agent Robotic System) is a concrete application of Multi-Agent conception. Presently, the research based on MARS is mostly centralized on the field of high level communication and cooperation, and it is seldom concerned with under layered real-time problem. This paper will study under layered real-time scheduling problem, which is based on the theory of MAS(Multi-agent System).First, we research the structure model of MARS, then an uniform model based on HAN (Hierarchical Agent Networks) is proposed, which can unify all sorts of model; Second, the communication model of MARS has been studied, then we propose high level communication model and under layered network topology model, and they are the same with MARS; Three, Ground on above, a real-timecimunication protocol for MARS-----RTCMR has been presented. In this paper,we study the under layered real-time scheduling protocol of RTCMR, which include real-time process scheduling and real-time message scheduling. So, we propose SP/TS algorithms and create mathematic model. SP/TS protocol system combines real-time process scheduling and real-time message scheduling. Absolute deadline guarantees of real-time process and real-time message has been achieved simultaneously. At last, we propose SPP/TSP control structure based on SP/TS protocol system, and present a uniform scheduling Petri nets model.Finally, we carry out a simulate experiment with SP/TS at high soft\vare level. The results prove that the theoretical model we propose is reasonable. This system realizes allocating predictable network bandwidth to predictable process/task on the basis of certain process necessary. The system is analyzable and controllable completely.