分布式对象技术在多机器人系统中的应用

本文介绍了我们建立的基于Ａｇｎｅｔ的分布协作式多机器人装配系统－ＤＡＭＡＳ，在此基础上研究了多机器人合作的协商协议，采用了改进的合同网协议方法，针对多机器人协商协议的软件实现了，采用了应用前景广阔的分布式对象技术，介绍了机器人合作装配的协商协议的具体实现方法。

This paper first introduces the Distributed Agent based Multi robots Assembly System(DAMAS) built by us,on the basis of which the negotiation protocol of multi robots cooperation is studied,the extended Contract Net method has been adopted in design of negotiation protocol. With regard of the software implementation of the negotiation protocol, the promising Distributed Object Technology has been applied, and particular implementation methods of the negotiation protocol is explained.

国家863计划,国家自然科学基金