自律分散型ロボットシステムにおける通信を用いた協調チーム編成手法の開発と評価

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rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf: http://ci.nii.ac.jp/naid/110002382041/In this paper, a method of organizing for a collaborating team in a distributed autonomous robotic system, ACTRESS, is discussed. In this system, plural robotic agents are organized in a collaborating team, in which they cooperate to execute a common task. All agents are equipped with a communication system. An efficient negotiation method is developed to organize an optimal team. It utilizes the record of past negotiations. The robotic agents in a collaborating team exchange messages which contain the functional status of robotic agents, record these data in their own knowledge-bases, and select cooperative agents. In the learning mechanism, the robotic agent calculates suitability of cooperative agents in the collaborating team in advance, using its knowledgebase, and negotiates the organization of the collaborating team with a limited number of agents. With this learning mechanism, efficient negotiation is achieved, which is verified by simulation.
1995-07-25