基于路径开销的机器人足球角色分配设计

小型足球机器人的决策系统是一个多智能体协调控制系统,主要由视觉信息处理、协调策略、角色分配、动作实现等组成.本文对角色分配机制进行研究,提出了一种路径开销组合最优的角色分配算法,实现了Play策略下动态角色分配的整体设计.仿真平台测试表明了机器人的整体配合能力有较大提高.     

基于Play策略的小型足球机器人角色分配设计

小型组足球机器人的决策系统是一个多智能体的协调控制系统，主要由视觉信息处理、协调策略、角色分配、动作实现等组成。文中对角色分配进行研究，提出了一种基于Hay策略并与区域相关的角色分配方案，并阐述了决策系统下角色分配的整体设计。实现了动态灵活的分配机制。     

基于单亲遗传算法的RoboCup动态角色分配

RoboCup的机器人动态角色分配问题是一个典型的组合优化问题。解决这一问题的传统方法是贪心法,但贪心法易陷入局部最优解。提出用针对组合优化问题而构造的序号编码单亲遗传算法解决RoboCup的机器人动态角色分配问题。单亲遗传算法借鉴了传统遗传算法“优胜劣汰”的自然选择机制,但只通过单个体繁殖后代,在解决组合优化问题和复杂工程优化问题方面具有明显的优越性。试验结果显示这种方法的在解决RoboCup机器人动态角色分配问题时的有效性。     

RoboCup中型组足球机器人系统关键技术

RoboCup中型组机器人足球比赛是一个研究多自主移动机器人、机器人视觉及其他相关领域的标准测试平台。从机器人机械结构、硬件结构、体系结构、环境感知、行为及策略等方面详细介绍了RoboCup中型组足球机器人系统相关关键技术的研究现状,最后展望了RoboCup中型组足球机器人系统的技术发展趋势。     

基于LPN-DE与适应度拍卖的多机器人路径规划

在RoboCup环境下,针对多机器人的路径规划和任务分配,将LPN-DE方法和组合拍卖法有效结合,综合考虑多机器人的避障、路径规划和角色分配,提出了完整的实现方法和动态模型,并在RoboCup中型组机器人上验证了该方法的实用性和有效性。     

足球机器人动态角色分配策略仿真研究

研究足球机器人角色分配问题,角色分配是足球机器人决策协调的关键,在比赛中要兼顾最优性与实时性进行角色分配是足球机器人技术的难点.针对足球机器人比赛的特点,提出一种基于市场机制的动态角色分配算法.为了使角色分配接近最优,综合考虑影响角色分配的距离、角度以及其它多种不确定性因素来设计竞标函数;为了保证实时性,系统根据赛场态势,采用分级竞标的策略动态调整机器人角色.实验表明,市场动态算法在最小时间内提供接近最优化的角色分配方案,兼顾了足球机器人角色分配的实时性与最优性.     

RoboCup中型组机器人足球相关技术研究

机器人足球世界杯比赛（RoboCup）作为多智能体系统的一个良好的实验平台,已经成为人工智能的研究热点。本文综述了RoboCup机器人足球赛的发展概况和中型组比赛的现状,针对中型组足球机器人基于动态目标驱动模型的系统化、模块化软件系统架构和相关关键技术进行较为详细的分析和比较,最后对中型组机器人足球未来的发展方向进行了分析和展望。     

Robocup3D仿真机器人球队决策系统模型研究

基于RoboCup3D仿真机器人足球最新平台,以缩短机器人的个体决策时间、快速收敛球队队形并统一个体决策与全队决策为目的,构建了球队层次化的决策系统模型。在此模型下具体实现了全队的阵形控制、角色位置分配和协作配合。基于矩阵最小调整的思想,实现了一个全局最优且比当前现有算法耗时更少的角色分配算法,为球队的阵形控制提供了最优分配方案。结合对比实验,最终结果显示该模型和算法大幅度减少了机器人的决策时间,球队整体同步性、队形收敛速度提高,机器人之间碰撞次数减少,球队整体作战能力提升。     

基于四腿机器人足球比赛的多智能体协调控制

依托RoboCup四腿组机器人足球比赛,结合图像处理和无线网络通讯手段,建立反映赛场对象定位信息的环境模型,并基于此模型探讨多智能体动态角色分配与协调控制的实现方法。     

一种新的多智能体系统结构及其在RoboCup中的应用

针对机器人足球仿真比赛,提出了一种新的多智能体系统结构,它包括基于行为的双层动态智能体结构和决策算法以及基于角色的动态多智能体协作模型．论文首次提出了自信函数这个概念,并运用此概念来平衡决策算法和多智能体之间的协作．该结构应用于中南大学云麓仿真球队中,在中国机器人足球RoboCup仿真组比赛中取得了较好的成绩．     

网络资源并行优化的纵横复合弹簧网络方法

具有复杂社会动力学特性的计算机网络中，存在着许多难以求解的问题，该文提出一种新的纵横复合弹簧网络模型和方法，对计算机网络资源的分布式优化问题建立了相应的数学物理模型及分布平行算法，将网络资源优化问题求解过程转变为对应的复合弹簧网络形变过程，该模型和方法能刻画网络实体之间并发的复杂的社会交互行为（竞争，协作和诱导等），能描述网络实体随局势的变化各自采取的动态策略和自治行为，并能体现出市场价格机制的作用，给出了在宽带网络的带宽分配问题的应用实例。     

具有并行约束目标的多主体系统动态角色分配

多主体系统已成为建模和开发大型复杂分布式信息系统的一种理想范型.很多基于主体技术的系统要求支持动态角色分配,而已有动态角色分配算法忽略了目标之间的约束对角色分配的影响.首先,提出一个具有并行约束目标的多主体系统动态角色分配模型,引入多个角色分配管理者主体共同承担角色分配的计算任务,避免因单个主体可能造成的计算瓶颈.然后,基于并行约束目标结构图,给出目标集划分算法.并设计实现了角色分配算法,分析了该算法的时间复杂度.最后,实验研究了角色分配算法的执行时间,表明理论分析与实验结果一致.基于目标集合划分对角色分配的计算任务进行分割,使得各个角色分配管理者主体的计算结果无需进行合并再进行并行约束检查.     

An explicit pole-assigning feedback formula with application to dead-beat feedback construction in discrete linear systems

A short proof is given of the well-known theorem that in a controllable, autonomous, linear system the poles of the closed-loop system can be reassigned by means of a linear, constant state-variable feedback; the construction in the proof provides an efficient algorithm for pole assignment. In particular, we give explicitly the feedback which guarantees dead-beat performance in a reachable linear autonomous discrete-time system inn+1-msteps.     

基于角色的用户权限管理在技侦管理系统中的应用

访问控制是软件系统安全性重要的组成部分。本文在论述基于角色的访问控制模型的基础上,提出了一种基于角色的权限分配及访问控制模型,并在公安技侦管理系统中实现了该模型。该系统在用户角色分配的基础上加入了权限授权及协同机制,大大降低了系统权限管理的复杂性,提高了权限管理的效率。     

Self-Management Framework for Mobile Autonomous Systems

The advent of mobile and ubiquitous systems has enabled the development of autonomous systems such as wireless-sensors for environmental data collection and teams of collaborating Unmanned Autonomous Vehicles (UAVs) used in missions unsuitable for humans. However, with these range of new application-domains comes a new challenge—enabling self-management in mobile autonomous systems. Autonomous systems have to be able to manage themselves individually as well as form self-managing teams which are able to adapt to failures, protect themselves from attacks and optimise performance. This paper proposes a novel distributed policy-based framework that enables autonomous systems of varying scale to perform self-management individually and as a team. The framework allows missions to be specified in terms of roles in an adaptable and reusable way, enables dynamic and secure team formation with a utility-based approach for optimal role assignment, caters for communication link maintenance amongst team-members and recovery from failure. Adaptive management is achieved by employing a policy-based architecture to enable dynamic modification of the management strategy relating to resources, role behaviour, communications and team management, without interrupting the basic software within the system. Evaluation of the framework shows that it is scalable with respect to the number of roles, and consequently the number of autonomous systems involved in the mission. It is also optimal with respect to role assignments, and robust to intermittent communication link and permanent team-member failures.     

一种基于层次命名空间的RBAC管理模型

访问控制是一种重要的信息安全机制.基于角色访问控制(RBAC)提供了一种策略中立、具有强扩展性的框架,使访问控制机制具备了相当的灵活性.RBAC96和ARBAC97模型是基于角色访问控制的经典模型,其中ARBAC97定义了一系列的角色管理模型,实现了在RBAC模型基础上的分布式管理.但对于由多个自治的分支机构组成的大规模组织,ARBAC97模型存在授权关系复杂、允许越级操作以及角色名称必须全局惟一等不足.为了解决这些问题,提出了一种基于层次命名空间的RBAC模型——N-RBAC,使用命名空间来组织角色和资源,各命名空间之间的资源相互不可见.命名空间结构提供了良好的分布式RBAC管理能力,简化了角色继承结构的复杂性,并对局部自治的RBAC管理提供有力支持.     

Visibility Enhancement using Autonomous Multicamera Controls with Situational Role Assignment for Teleoperated Work Machines

The aim of this study is to provide a machine operator with enhanced visibility and more adaptive visual information suited to the work situation, particularly advanced unmanned construction. Toward that end, we propose a method for autonomously controlling multiple environmental cameras. Situations in which the yaw, pitch, and zoom of cameras should be controlled are analyzed. Additionally, we define imaging objects, including the machine, manipulators, and end points; and imaging modes, including tracking, zoom, posture, and trajectory modes. To control each camera simply and effectively, four practical camera roles with different combinations of the imaging objects and modes were defined: overview machine, enlarge end point, posture‐manipulator, and trajectory‐manipulator. A real‐time role assignment system is described for assigning the four camera roles to four out of six cameras suitable for the work situation (e.g., reaching, grasping, transport, and releasing) on the basis of the assignment‐priority rules. To test this system, debris‐removal tasks were performed in a virtual reality simulation to compare performance among fixed camera, manual control camera, and autonomous control camera systems. The results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and erroneous contacts and simultaneously increasing the subjective usability and time efficiency.     

A Role Engineering Framework to Support Dynamic Authorizations in Collaborative Environments

ABSTRACT

With the increasing availability of networks and the advancements in their underlying infrastructure of mobile devices, access control and authorization issues will be enablers of future technologies in collaborative environments. Recent works demonstrate efforts to dynamically authorize users without prior knowledge and with no security configuration attributes or roles previously assigned to them. Moreover, current role-based engineering approaches construct role hierarchies without reflecting the organizational structure, since they do not take into account structural organizational characteristics. In this paper we propose an innovative role structure, not solely dependent on naming methods but also that takes into account organizational as well as functional characteristics to provide a practical role assignment methodology between organizations in a collaborative environment. More specifically, we argue that beyond the fact that a role represents a job assignment to perform certain function(s), it is also a composite element representing several organizational characteristics such as organizational function, organizational domain and level of authority. The proposed role structure enables role-to-role assignment as external nonlocal users request access in a particular information system (e.g., people on the move, users logged in from a collaborative organization) and acquire local role(s). A clear advantage in the proposed framework is its flexibility in the role assignment process, since the proposed role decomposition does not require an exact match of predefined credentials. The methodology is autonomous, as no prior trust establishment is required between interactive organizations, expendable as new organizations can join the collaboration without affecting the existing ones, flexible as it does not affect the local access control policy, scalable as the collaboration can increase arbitrary and efficient as the comparison methodology guarantees the selection of the appropriate local role, if such one exists.     

利用细化RBAC模型实现大型信息系统的安全访问控制

基于角色的访问控制是一种高效安全的访问控制机制,但是传统的RBAC模型没有提出根据单位特征、功能特征和数据特征来细化控制角色指派的方法。本文结合RBAC模型思想和大型企业信息系统的实际需求对RBAC模型进行改进,在单位、功能、数据等维度对模型进行了细化,并给出了实例应用,有效地解决了大型企业信息系统的安全访问控制难以细化的问题。