Cooperation And Gaming Of Multiple Robots Based On Ontologies

With the rapid development of artificial intelligence technology and its application,the multi-robot collaboration and alliance confrontation mechanism facing complex tasks are becoming more and more important as the basic theory.The interaction between human and robot and the interaction between robot and robot is an important branch in the field of robot research.The heterogeneous robots within the robot system or between different robot systems must communicate and realize the sharing of knowledge and information before they can interact and negotiate,and then the division of labor and cooperation can solve complex problems.The knowledge sharing of multi-robot systems is the basis for the completion of collaborative tasks,and is also the information base of multi-resistance games.In response to the above issues,the main work and contributions of this paper are as follows:1.Put forward a set of ontology merger theory based on social choice.1)This paper defines a set of ontology aggregation rules,including majority decision rules,coalition aggregation rules and distance rules.Then,based on ontology concepts and relationships and other elements,a distributed ontology aggregation algorithm based on cosine similarity is proposed and proved.The algorithm satisfies the necessary and sufficient conditions of the universal domain,anonymity,independence and monotony axioms at the same time;2)Based on the theory of social choice,the credibility of source ontology and the attribute of consensus are taken into consideration,and ontology merging rules including ontology classifier and ontology aggregator technology are designed.2.A dynamic task assignment algorithm for multi-robot system is designed in this paper.In the co-integration environment,the formalized representation of the system environment,task and auction market is completed firstly,and it is convenient for its automatic processing to make the job application better.Furthermore,the"damage rate" and task completion are introduced as the standard of task assignment,which enhances the operability of the realistic scenario.Finally,the static task assignment algorithm,case and experiment show the correctness and effectiveness of the proposed method.3.Based on the complex task alliance,the multi-robot game model under confrontation is studied.Firstly,a formal game description language is defined.Then,the representation and automatic reasoning methods of multi-game strategy are given respectively.Finally,a Double Oracle-based algorithm is designed to solve the above Stackelberg security game.To sum up,this article in view of the communion environment cooperation against the problem of multi-robot systems,respectively from the knowledge sharing and interoperation,a dynamic allocation is responsible for the task and multi-robot confrontation game,from the three angles of design and presents a formalized model;The effectiveness of the proposed algorithm and mechanism is demonstrated by case or experiment.