多移动机器人协同搬运技术综述
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摘要
多移动机器人协同搬运系统是多移动机器人系统的典型应用,在一些特殊场合中具有较强的应用潜力。对此,本文综述了多移动机器人协同搬运的相关技术,总结了国内外的发展状况。针对不同的搬运对象,分析比较了抓取、推拉、锁定3种搬运方案,重点分析了不同搬运方案下的多移动机器人协同搬运策略算法原理以及各自的优缺点;概述了多移动机器人搬运系统中涉及的周边技术,主要包括多移动机器人任务分配、环境感知定位、轨迹规划3个方面;最后对多移动机器人协同搬运技术的研究方向进行了展望。
Cooperative transportation by multiple mobile robots is a typical application of the multi-robot system, and has strong application potential, especially in specific circumstances. In this review, we summarize the range of cooperative transportation technologies and discuss related research progress in China and abroad. With respect to different transportation objectives, we compare three handling schemes, including grab, push, and closure. We then analyze the algorithm principles and respective advantages and disadvantages of each scheme. We introduce the peripheral technologies used in multi-robot transportation systems, including task allocation, environmental perception and location, and motion planning by multiple mobile robots. Finally, we present an overview of the development trend in cooperative transportation technology.
Cooperative transportation by multiple mobile robots is a typical application of the multi-robot system, and has strong application potential, especially in specific circumstances. In this review, we summarize the range of cooperative transportation technologies and discuss related research progress in China and abroad. With respect to different transportation objectives, we compare three handling schemes, including grab, push, and closure. We then analyze the algorithm principles and respective advantages and disadvantages of each scheme. We introduce the peripheral technologies used in multi-robot transportation systems, including task allocation, environmental perception and location, and motion planning by multiple mobile robots. Finally, we present an overview of the development trend in cooperative transportation technology.
引文
[1] ARAI T,PAGELLO E,PARKER L E. Guest editorial advances in multirobot systems[J]. IEEE transactions on robotics and automation, 2002, 18(5):655-661.
[2] PARKER L E, TANG Fang. Building multirobot coalitions through automated task solution synthesis[J].Proceedings of the IEEE, 2006, 94(7):1289-1305.
[3] SCHWARTZ J T,SHARIR M. On the"piano movers'"problem I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers[J]. Communications on pure and applied mathematics, 1983, 36(3):345-398.
[4] MATARIC M J, NILSSON M, SIMSARIN K T. Cooperative multi-robot box-pushing[C]//Proceedings of 1995IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots. Pittsburgh, PA,USA,1995:556-561.
[5] MOON S, KWAK D, KIM H J. Cooperative control of differential wheeled mobile robots for box pushing problem[C]//Proceedings of the 2012 12th International Conference on Control, Automation and Systems. Jeju Island, South Korea, 2012:140-144.
[6] PARRA-GONZALEZ E F,RAMIREZ-TORRES G,TOSCANO-PULIDO G. Motion planning for cooperative multi-robot box-pushing problem[C]//Proceedings of the11th Ibero-American Conference on Artificial Intelligence.Lisbon, Portugal, 2008:382-391.
[7] PARRA-GONZALEZ E F,RAMIREZ-TORRES J G.Grasp quality for the object transportation by communities of mobile robots[C]//Proceedings of the 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control. Mexico, Mexico, 2012:1-6.
[8] KOVAC K,ZIVKOVIC I,BASIC B D. Simulation of multi-robot reinforcement learning for box-pushing problem[C]//Proceedings of the 12th IEEE Mediterranean Electrotechnical Conference. Dubrovnik, Croatia, 2004:603-606.
[9] WANG Ying, DE SILVA C W. Multi-robot box-pushing:single-agent Q-learning vs. team Q-learning[C]//Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China, 2006:3694-3699.
[10] LIU Zhaojia, GUETA L B,OTA J. A strategy for fast grasping of unknown objects using partial shape information from range sensors[J]. Advanced robotics, 2013,27(8):581-595.
[11] ALKILABI M H M, NARAYAN A, TUCI E. Cooperative object transport with a swarm of e-puck robots:robustness and scalability of evolved collective strategies[J].Swarm intelligence, 2017, 11(3/4):185-209.
[12]秦颖,李涛,张智勇,等.一种面向工程应用的多移动搬运机器人系统结构[J].中南大学学报(自然科学版),2013, 44(S2):21-27.QIN Ying, LI Tao, ZHANG Zhiyong,et al. A mobile transfer multi-robots system structure oriente to engineering application[J]. Journal of central south university(science and technology), 2013, 44(S2):21-27.
[13] YAMASHITA A, ARAI T, OTA J, et al. Motion planning of multiple mobile robots for Cooperative manipulation and transportation[J]. IEEE transactions on roboticsand automation, 2003, 19(2):223-237.
[14] YAMASHITA A,FUKUCHI M,OTA J,et al. Motion planning for cooperative transportation of a large object by multiple mobile robots in a 3D environment[C]//Proceedings of 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation.Symposia Proceedings. San Francisco, CA, USA, 2000:3144-3151.
[15] RIMON E, BLAKE A. Caging 2D bodies by 1-parameter two-fingered gripping systems[C]//Proceedings of 1996IEEE International Conference on Robotics and Automation. Minneapolis, MN, USA, 1996:1458-1464.
[16] RIMON E, BURDICK J W. Mobility of bodies in contact.I. A 2nd-order mobility index for multiple-finger grasps[J]. IEEE transactions on robotics and automation,1998, 14(5):696-708.
[17] OTA J. Multi-agent robot systems as distributed autonomous systems[J]. Advanced engineering informatics, 2006,20(1):59-70.
[18] CHEN Jianing, GAUCI M, GROB R. A strategy for transporting tall objects with a swarm of miniature mobile robots[C]//Proceedings of 2013 IEEE International Conference on Robotics and Automation. Karlsruhe, Germany,2013:863-869.
[19] RUBENSTEIN M, CABRERA A, WERFEL J, et al. Collective transport of complex objects by simple robots:theory and experiments[C]//Proceedings of 2013 International Conference on Autonomous Agents and Multi-Agent Systems. St. Paul, MN, USA, 2013:47-54.
[20] CHEN Jianing,GAUCI M,LI Wei,et al. Occlusion-based cooperative transport with a swarm of miniature mobile robots[J]. IEEE transactions on robotics, 2015, 31(2):307-321.
[21] FUJII N, INOUE R, OTA J. Multiple robot rearrangement problem using an extended project-scheduling problem solver[C]//Proceedings of 2008 IEEE International Conference on Robotics and Biomimetics. Bangkok,Thailand, 2009:2007-2012.
[22] FUJII N, OTA J. Territorial and effective task decomposition for rearrangement planning of multiple objects by multiple mobile robots[J]. Advanced robotics, 2011,25(1/2):47-74.
[23] RUIZ D,BACCA B,CAICEDO E. Control strategy based on swarms algorithms to cooperative payload transport using a non-holonomic mobile robots group[J]. IEEE Latin America transactions, 2016, 14(2):445-456.
[24] DAS P, RIBAS-XIRGO L. A study of time-varying cost parameter estimation methods in automated transportation systems based on mobile robots[C]//Proceedings ofthe 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation. Berlin, Germany, 2016:1-4.
[25] DORIGO M,GAMBARDELLA L M. Ant colony system:a cooperative learning approach to the traveling salesman problem[J]. IEEE transactions on evolutionary computation, 1997, 1(1):53-66.
[26]张成,凌有铸,陈孟元.改进蚁群算法求解移动机器人路径规划[J].电子测量与仪器学报,2016, 30(1 1):1758-1764.ZHANG Cheng, LING Youzhu, CHEN Mengyuan. Path planning of mobile robot based on an improved ant colony algorithm[J]. Journal of electronic measurement and instrumentation, 2016, 30(11):1758-1764.
[27] LIU Jianhua, YANG Jianguo, LIU Huaping,et al. An improved ant colony algorithm for robot path planning[J].Soft computing, 2017, 21(19):5829-5839.
[28] KENNEDY J, EBERHART R. Particle swarm optimization[C]//Proceedings of 1995 IEEE International Conference on Neural Networks. Perth, WA, Australia, 1995:1942-1948.
[29]黄太安,生佳根,徐红洋,等.一种改进的简化粒子群算法[J].计算机仿真,2013, 30(2):327-330,335.HUANG Taian, SHENG Jiagen, XU Hongyang, et al. Improved simplified particle swarm optimization[J]. Computer simulation, 2013, 30(2):327-330, 335.
[30] NAKANO T,OKAIE Y,KOBAYASHI S,et al. Performance evaluation of leader-follower-based mobile molecular communication networks for target detection applications[J]. IEEE transactions on communications, 2017,65(2):663-676.
[31] LIN Fu. Performance of leader-follower multi-agent systems in directed networks[J]. Systems and control letters,2018, 113:52-58.
[32] GERKEY B P, MATARIC M J. Pusher-watcher:an approach to fault-tolerant tightly-coupled robot coordination[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation. Washington, DC,USA, 2002:464-469.
[33] INOUE Y, TOHGE T, IBA H. Cooperative transportation system for humanoid robots using simulation-based learning[J]. Applied soft computing, 2007, 7(1):115-125.
[34] MIYATA N, OTA J, ARAI T, et al. Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment[J]. IEEE transactions on robotics and automation, 2002,18(5):769-780.
[35] LIU Zhaojia, KAMOGAWA H, OTA J. Motion planning for two robots of an object handling system consideringfast transition between stable states[J]. Advanced robotics, 2012, 26(11/12):1291-1316.
[36] SAKUYAMA T, FIGUEROA J, MIYAZAKI Y, et al.Transportation of a large object by small mobile robots using hand carts[C]//Proceedings of 2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China, 2012:2108-2113.
[37] OHASHI F,KAMINISHI K,HEREDIA J D F,et al.Realization of heavy object transportation by mobile robots using handcarts and outrigger[J]. Robomech journal,2016,3:27.
[38] SUDSANG A,PONCE J. On grasping and manipulating polygonal objects with disc-shaped robots in the plane[C]//Proceedings of 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium, 1998:2740-2746.
[39] SUDSANG A, PONCE J. A new approach to motion planning for disc-shaped robots manipulating a polygonal object in the plane[C]//Proceedings of 2001 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings. San Francisco, CA,USA,2000:1068-1075.
[40] WANG Zhidong, KUMAR V. Object closure and manipulation by multiple cooperating mobile robots[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation. Washington, DC, USA, 2002:394-399.
[41]黎萍,杨宜民.多机器人系统任务分配的研究进展[J].计算机工程与应用,2008, 44(17):201-205, 227.LI Ping, YANG Yimin. Progress of task allocation in multi-robot systems[J]. Computer engineering and applications, 2008, 44(17):201-205, 227.
[42]李冯敬,姚佩阳,张杰勇,等.基于多Agent的分布式通信对抗目标分配系统[J].计算机工程,2012, 38(12):283-286, 290.LI Fengjing, YAO Peiyang, ZHANG Jieyong, et al. Distributed communication countermeasures target assignment system based on multi-agent[J]. Computer engineering, 2012, 38(12):283-286, 290.
[43] PARKER L E. ALLIANCE:an architecture for fault tolerant multirobot cooperation[J]. IEEE transactions on robotics and automation, 1998, 14(2):220-240.
[44] KLAVINS E, KODITSCHEK D E. A formalism for the composition of concurrent robot behaviors[C]//Proceedings of 2000 IEEE International Conference on Robotics and Automation. San Francisco, CA, USA, 2000:3395-3402.
[45] SCHRECKENGHOST D, BONASSO P, KORTENKAMP D, et al. Three tier architecture for controllingspace life support systems[C]//Proceedings of 1998 IEEE International Joint Symposia on Intelligence and Systems.Rockville,MD,USA,1998:195-201.
[46] VOLPE R, NESNAS I,ESTLIN T,et al. The CLARAty architecture for robotic autonomy[C]//Proceedings of2001 IEEE Aerospace Conference Proceedings. Big Sky,MT, USA, 2001:121-132.
[47]王东署,王佳.未知环境中移动机器人环境感知技术研究综述[J].机床与液压,2013,41(15):187-191.WANG Dongshu, WANG Jia. Research review of environmental cognition techniques of mobile robots in unknown environment[J]. Machine tool and hydraulics,2013,41(15):187-191.
[48] ABID A, KHAN M T. Multi-sensor, multi-level data fusion and behavioral analysis based fault detection and isolation in mobile robots[C]//Proceedings of the 2017 8th IEEE Annual Information Technology, Electronics and Mobile Communication Conference. Vancouver, BC,Canada, 2017:40-45.
[49]杨帆.多移动机器人编队控制与协作运输研究[D].上海:华东理工大学,2011:39-45.YANG Fan. Research on multiple mobile robot formation control and cooperative transport[D]. Shanghai:East China University of Science and Technology, 2011:39-45.
[50] KITO T, OTA J, KATSUKI R, et al. Smooth path planning by using visibility graph-like method[C]//Proceedings of 2003 IEEE International Conference on Robotics and Automation. Taipei, Taiwan, China, 2003:3770-3775.
[51] TREVAI C, OTA J, ARAI T. Multiple mobile robot surveillance in unknown environments[J]. Advanced robotics, 2007, 21(7):729-749.
[52] QAYUM M A, NAHAR N, SIDDIQUE N A, et al. Interactive intelligent agents with creative minds:Experiments with mobile robots in cooperating tasks by using machine learning[C]//Proceedings of 2017 IEEE International Conference on Imaging, Vision and Pattern Recognition. Dhaka, Bangladesh, 2017:1-6.
[53]杨甜甜,苏治宝,刘进,等.多移动机器人避障编队控制[J].计算机仿真,2011,28(9):215-218.YANG Tiantian, SU Zhibao, LIU Jin, et al. Formation control and obstacle avoidance for multiple mobile robots[J]. Computer simulation, 2011, 28(9):215-218.
[2] PARKER L E, TANG Fang. Building multirobot coalitions through automated task solution synthesis[J].Proceedings of the IEEE, 2006, 94(7):1289-1305.
[3] SCHWARTZ J T,SHARIR M. On the"piano movers'"problem I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers[J]. Communications on pure and applied mathematics, 1983, 36(3):345-398.
[4] MATARIC M J, NILSSON M, SIMSARIN K T. Cooperative multi-robot box-pushing[C]//Proceedings of 1995IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots. Pittsburgh, PA,USA,1995:556-561.
[5] MOON S, KWAK D, KIM H J. Cooperative control of differential wheeled mobile robots for box pushing problem[C]//Proceedings of the 2012 12th International Conference on Control, Automation and Systems. Jeju Island, South Korea, 2012:140-144.
[6] PARRA-GONZALEZ E F,RAMIREZ-TORRES G,TOSCANO-PULIDO G. Motion planning for cooperative multi-robot box-pushing problem[C]//Proceedings of the11th Ibero-American Conference on Artificial Intelligence.Lisbon, Portugal, 2008:382-391.
[7] PARRA-GONZALEZ E F,RAMIREZ-TORRES J G.Grasp quality for the object transportation by communities of mobile robots[C]//Proceedings of the 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control. Mexico, Mexico, 2012:1-6.
[8] KOVAC K,ZIVKOVIC I,BASIC B D. Simulation of multi-robot reinforcement learning for box-pushing problem[C]//Proceedings of the 12th IEEE Mediterranean Electrotechnical Conference. Dubrovnik, Croatia, 2004:603-606.
[9] WANG Ying, DE SILVA C W. Multi-robot box-pushing:single-agent Q-learning vs. team Q-learning[C]//Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China, 2006:3694-3699.
[10] LIU Zhaojia, GUETA L B,OTA J. A strategy for fast grasping of unknown objects using partial shape information from range sensors[J]. Advanced robotics, 2013,27(8):581-595.
[11] ALKILABI M H M, NARAYAN A, TUCI E. Cooperative object transport with a swarm of e-puck robots:robustness and scalability of evolved collective strategies[J].Swarm intelligence, 2017, 11(3/4):185-209.
[12]秦颖,李涛,张智勇,等.一种面向工程应用的多移动搬运机器人系统结构[J].中南大学学报(自然科学版),2013, 44(S2):21-27.QIN Ying, LI Tao, ZHANG Zhiyong,et al. A mobile transfer multi-robots system structure oriente to engineering application[J]. Journal of central south university(science and technology), 2013, 44(S2):21-27.
[13] YAMASHITA A, ARAI T, OTA J, et al. Motion planning of multiple mobile robots for Cooperative manipulation and transportation[J]. IEEE transactions on roboticsand automation, 2003, 19(2):223-237.
[14] YAMASHITA A,FUKUCHI M,OTA J,et al. Motion planning for cooperative transportation of a large object by multiple mobile robots in a 3D environment[C]//Proceedings of 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation.Symposia Proceedings. San Francisco, CA, USA, 2000:3144-3151.
[15] RIMON E, BLAKE A. Caging 2D bodies by 1-parameter two-fingered gripping systems[C]//Proceedings of 1996IEEE International Conference on Robotics and Automation. Minneapolis, MN, USA, 1996:1458-1464.
[16] RIMON E, BURDICK J W. Mobility of bodies in contact.I. A 2nd-order mobility index for multiple-finger grasps[J]. IEEE transactions on robotics and automation,1998, 14(5):696-708.
[17] OTA J. Multi-agent robot systems as distributed autonomous systems[J]. Advanced engineering informatics, 2006,20(1):59-70.
[18] CHEN Jianing, GAUCI M, GROB R. A strategy for transporting tall objects with a swarm of miniature mobile robots[C]//Proceedings of 2013 IEEE International Conference on Robotics and Automation. Karlsruhe, Germany,2013:863-869.
[19] RUBENSTEIN M, CABRERA A, WERFEL J, et al. Collective transport of complex objects by simple robots:theory and experiments[C]//Proceedings of 2013 International Conference on Autonomous Agents and Multi-Agent Systems. St. Paul, MN, USA, 2013:47-54.
[20] CHEN Jianing,GAUCI M,LI Wei,et al. Occlusion-based cooperative transport with a swarm of miniature mobile robots[J]. IEEE transactions on robotics, 2015, 31(2):307-321.
[21] FUJII N, INOUE R, OTA J. Multiple robot rearrangement problem using an extended project-scheduling problem solver[C]//Proceedings of 2008 IEEE International Conference on Robotics and Biomimetics. Bangkok,Thailand, 2009:2007-2012.
[22] FUJII N, OTA J. Territorial and effective task decomposition for rearrangement planning of multiple objects by multiple mobile robots[J]. Advanced robotics, 2011,25(1/2):47-74.
[23] RUIZ D,BACCA B,CAICEDO E. Control strategy based on swarms algorithms to cooperative payload transport using a non-holonomic mobile robots group[J]. IEEE Latin America transactions, 2016, 14(2):445-456.
[24] DAS P, RIBAS-XIRGO L. A study of time-varying cost parameter estimation methods in automated transportation systems based on mobile robots[C]//Proceedings ofthe 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation. Berlin, Germany, 2016:1-4.
[25] DORIGO M,GAMBARDELLA L M. Ant colony system:a cooperative learning approach to the traveling salesman problem[J]. IEEE transactions on evolutionary computation, 1997, 1(1):53-66.
[26]张成,凌有铸,陈孟元.改进蚁群算法求解移动机器人路径规划[J].电子测量与仪器学报,2016, 30(1 1):1758-1764.ZHANG Cheng, LING Youzhu, CHEN Mengyuan. Path planning of mobile robot based on an improved ant colony algorithm[J]. Journal of electronic measurement and instrumentation, 2016, 30(11):1758-1764.
[27] LIU Jianhua, YANG Jianguo, LIU Huaping,et al. An improved ant colony algorithm for robot path planning[J].Soft computing, 2017, 21(19):5829-5839.
[28] KENNEDY J, EBERHART R. Particle swarm optimization[C]//Proceedings of 1995 IEEE International Conference on Neural Networks. Perth, WA, Australia, 1995:1942-1948.
[29]黄太安,生佳根,徐红洋,等.一种改进的简化粒子群算法[J].计算机仿真,2013, 30(2):327-330,335.HUANG Taian, SHENG Jiagen, XU Hongyang, et al. Improved simplified particle swarm optimization[J]. Computer simulation, 2013, 30(2):327-330, 335.
[30] NAKANO T,OKAIE Y,KOBAYASHI S,et al. Performance evaluation of leader-follower-based mobile molecular communication networks for target detection applications[J]. IEEE transactions on communications, 2017,65(2):663-676.
[31] LIN Fu. Performance of leader-follower multi-agent systems in directed networks[J]. Systems and control letters,2018, 113:52-58.
[32] GERKEY B P, MATARIC M J. Pusher-watcher:an approach to fault-tolerant tightly-coupled robot coordination[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation. Washington, DC,USA, 2002:464-469.
[33] INOUE Y, TOHGE T, IBA H. Cooperative transportation system for humanoid robots using simulation-based learning[J]. Applied soft computing, 2007, 7(1):115-125.
[34] MIYATA N, OTA J, ARAI T, et al. Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment[J]. IEEE transactions on robotics and automation, 2002,18(5):769-780.
[35] LIU Zhaojia, KAMOGAWA H, OTA J. Motion planning for two robots of an object handling system consideringfast transition between stable states[J]. Advanced robotics, 2012, 26(11/12):1291-1316.
[36] SAKUYAMA T, FIGUEROA J, MIYAZAKI Y, et al.Transportation of a large object by small mobile robots using hand carts[C]//Proceedings of 2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China, 2012:2108-2113.
[37] OHASHI F,KAMINISHI K,HEREDIA J D F,et al.Realization of heavy object transportation by mobile robots using handcarts and outrigger[J]. Robomech journal,2016,3:27.
[38] SUDSANG A,PONCE J. On grasping and manipulating polygonal objects with disc-shaped robots in the plane[C]//Proceedings of 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium, 1998:2740-2746.
[39] SUDSANG A, PONCE J. A new approach to motion planning for disc-shaped robots manipulating a polygonal object in the plane[C]//Proceedings of 2001 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings. San Francisco, CA,USA,2000:1068-1075.
[40] WANG Zhidong, KUMAR V. Object closure and manipulation by multiple cooperating mobile robots[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation. Washington, DC, USA, 2002:394-399.
[41]黎萍,杨宜民.多机器人系统任务分配的研究进展[J].计算机工程与应用,2008, 44(17):201-205, 227.LI Ping, YANG Yimin. Progress of task allocation in multi-robot systems[J]. Computer engineering and applications, 2008, 44(17):201-205, 227.
[42]李冯敬,姚佩阳,张杰勇,等.基于多Agent的分布式通信对抗目标分配系统[J].计算机工程,2012, 38(12):283-286, 290.LI Fengjing, YAO Peiyang, ZHANG Jieyong, et al. Distributed communication countermeasures target assignment system based on multi-agent[J]. Computer engineering, 2012, 38(12):283-286, 290.
[43] PARKER L E. ALLIANCE:an architecture for fault tolerant multirobot cooperation[J]. IEEE transactions on robotics and automation, 1998, 14(2):220-240.
[44] KLAVINS E, KODITSCHEK D E. A formalism for the composition of concurrent robot behaviors[C]//Proceedings of 2000 IEEE International Conference on Robotics and Automation. San Francisco, CA, USA, 2000:3395-3402.
[45] SCHRECKENGHOST D, BONASSO P, KORTENKAMP D, et al. Three tier architecture for controllingspace life support systems[C]//Proceedings of 1998 IEEE International Joint Symposia on Intelligence and Systems.Rockville,MD,USA,1998:195-201.
[46] VOLPE R, NESNAS I,ESTLIN T,et al. The CLARAty architecture for robotic autonomy[C]//Proceedings of2001 IEEE Aerospace Conference Proceedings. Big Sky,MT, USA, 2001:121-132.
[47]王东署,王佳.未知环境中移动机器人环境感知技术研究综述[J].机床与液压,2013,41(15):187-191.WANG Dongshu, WANG Jia. Research review of environmental cognition techniques of mobile robots in unknown environment[J]. Machine tool and hydraulics,2013,41(15):187-191.
[48] ABID A, KHAN M T. Multi-sensor, multi-level data fusion and behavioral analysis based fault detection and isolation in mobile robots[C]//Proceedings of the 2017 8th IEEE Annual Information Technology, Electronics and Mobile Communication Conference. Vancouver, BC,Canada, 2017:40-45.
[49]杨帆.多移动机器人编队控制与协作运输研究[D].上海:华东理工大学,2011:39-45.YANG Fan. Research on multiple mobile robot formation control and cooperative transport[D]. Shanghai:East China University of Science and Technology, 2011:39-45.
[50] KITO T, OTA J, KATSUKI R, et al. Smooth path planning by using visibility graph-like method[C]//Proceedings of 2003 IEEE International Conference on Robotics and Automation. Taipei, Taiwan, China, 2003:3770-3775.
[51] TREVAI C, OTA J, ARAI T. Multiple mobile robot surveillance in unknown environments[J]. Advanced robotics, 2007, 21(7):729-749.
[52] QAYUM M A, NAHAR N, SIDDIQUE N A, et al. Interactive intelligent agents with creative minds:Experiments with mobile robots in cooperating tasks by using machine learning[C]//Proceedings of 2017 IEEE International Conference on Imaging, Vision and Pattern Recognition. Dhaka, Bangladesh, 2017:1-6.
[53]杨甜甜,苏治宝,刘进,等.多移动机器人避障编队控制[J].计算机仿真,2011,28(9):215-218.YANG Tiantian, SU Zhibao, LIU Jin, et al. Formation control and obstacle avoidance for multiple mobile robots[J]. Computer simulation, 2011, 28(9):215-218.