Multi-robot Control Architecture

With the development of robot technology, people pay more and more attention to MRS (Multi Robotic System). It is proved that using MRS can achieve complicated task better. The research of MRS has just begun. Architecture of control, communications and resolve of conflict are main subjects of MRS. This paper will study architecture of control and communications.First, we introduce agent and MAS (Multi Agent System). MARS (Multi-Agent Robotic System) is a concrete application of Multi-Agent conception. We research existing architecture of MRS, and then a uniform model based on HAN (Hierarchical Agent Networks) is proposed, which is combined with theory of MAS. Second, we research harmonization and collaboration in MRS and carry out collaboration model based on tree/map. We analyze existing method of real-time scheduling and improve Ant Algorithm. Then, we proposed a new method of real-time scheduling which adapt for the collaboration model above. We applied the model and algorithm in MRS and realize them. Communication is vital in MRS. We propose the model of communications that supports MARS. It's based on dynamic C/S model. We analyze the model, then design and realize communication system.Finally, we carry out a simulate experiment with collaboration model, method of scheduling and communications. The results prove that the theoretical model we propose is reasonable. The system is analyzable and controllable completely using the method we propose.