tailieunhanh - Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 4

Tham khảo tài liệu 'innovations in robot mobility and control - srikanta patnaik et al (eds) part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 48 . Lima and . Custódio primitive behaviour selection. The participant robots will select the behaviours concerning the commitment to achieve their joint goal only during the Loop phase. This selection process will now be explained for the Pass example in Fig. . Three individual behaviours can be found in the figure diagram standBy for both participants aimAndPass for the kicker and intercept for the receiver. Fig. . Diagram representing the relational behaviour Pass resulting of the teamwork between the kicker and receiver robots The pass commitment has been split up in several states referred to as commitment states request and accept in the Setup phase. prepare and intercept in the Loop phase. done and failed in the End phase. Table . - Behaviour selection for all pass commitment states phase Setup Loop End state request accept prepare intercept done failed Kicker - - aimAndPass standBy - - Receiver - - standBy intercept - - 1 Multi-Robot Systems 49 In general the states in the Setup and End phase will be the same for any commitment other than the Pass example given here. The Loop phase however is problem-dependent. Splitting it in several states allows the synchronized execution of the relational behaviour. Each commitment state is linked to a set of behaviours for both robots as listed in Table . When the commitment proceeds as planned the pass states will be run through sequentially from request until done. An error at any time can lead to the state failed. New commitments for the same or another application can be created under the same framework. To synchronize the behaviours the participants use explicit wireless communication. Four variables containing the identities of the participants and their commitment states are kept in each participant version of the blackboard. Each of these four variables will be sent to the other participants in the relational behaviour when it is changed. Optimal Decision Making for MRS Modelled as .