文档介绍：Mechanism and Machine Theory 44 (2009) 656–670
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Stigmergic cooperation of autonomous robots
Cezary Zielin´ ski *, Piotr Trojanek
Institute of Control putation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland
article info abstract
Article history: This paper presents a general and formal approach to designing robot controllers. It is based
Received 28 September 2007 on structuring the controller into subsystems dealing with effectors, receptors, inter-agent
Received in revised form 28 July 2008 transmission and internal memory. The behaviour of the controller is governed by transition
Accepted 29 August 2008
functions. They are the basis for the definitions of robot behaviours. A systematic method of
Available online 16 October 2008
partitioning the task of a robot into separate bio-inspired elementary behaviours and the
method posing those behaviours into actions performed by the robot in the real envi-
ronment are presented. Those general considerations are illustrated by an example of the
Keywords:
design of behavioural controllers for robots executing a joint transportation task. The robots
Robot programming
Formal specification only observe the effects of the others activities in the environment (stigmergy). The pre-
Behavioural control sented specific solution to the joint box pushing example has its own merits, however
the paper focuses on the general aspects of formal approach to controller design of multi-
robot systems.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
Taking into account the utilised principle munication two extreme classes of multi-robot (multi-agent) systems
exist. The first category uses munication, where the municate directly between themselves (.,
using wireless work technology). The second category uses munication, where each robot observes the
act