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Knowledge model-based heterogeneous multi-robot system implemented by a software platform
- Source :
-
Knowledge-Based Systems . Apr2007, Vol. 20 Issue 3, p310-319. 10p. - Publication Year :
- 2007
-
Abstract
- In order to build a heterogeneous multi-robot system that can be regarded as a primitive prototype of a future symbiotic autonomous human-robot system, this paper presents a knowledge model-based heterogeneous multi-robot system implemented by a software platform. With using frame-based knowledge representation, a knowledge model is constructed to describe the features of heterogeneous robots as well as their behaviors according to human requests. The required knowledge for constructing a heterogeneous multi-robot system can be therefore integrated in a single model and shared by robots and users. Based on the knowledge model, the heterogeneous multi-robot system is defined in the Software Platform for Agents and Knowledge Management (SPAK) by use of XML format. With the use of SPAK, the cooperative operation of heterogeneous multi-robot system can be flexibly carried out. The proposed system not only can integrate heterogeneous robots and various techniques for robots, but also can automatically perform human-robot interaction and plan robot behaviors taking into account different intelligence of robots corresponding to human requests. In this paper, an actual heterogeneous multi-robot system comprised by humanoid robots (Robovie, PINO), mobile robot (Scout) and entertainment robot dog (AIBO) is built and the effectiveness of the proposed system is verified by experiment. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 09507051
- Volume :
- 20
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- Knowledge-Based Systems
- Publication Type :
- Academic Journal
- Accession number :
- 24459914
- Full Text :
- https://doi.org/10.1016/j.knosys.2006.04.019