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Distributed Coordination in Heterogeneous Multi-Robot Systems 总被引:1,自引:0,他引:1
Coordination in multi-robot systems is a very active research field in Artificial Intelligence and Robotics, since through coordination one can achieve a more effective execution of the robots' tasks. In this paper we present an approach to distributed coordination of a multi-robot system that is based on dynamic role assignment. The approach relies on the broadcast communication of utility functions that define the capability for every robot to perform a task and on the execution of a coordination protocol for dynamic role assignment. The presented method is robust to communication failures and suitable for application in dynamic environments. In addition to experimental results showing the effectiveness of our approach, the method has been successfully implemented within the team of heterogeneous robots Azzurra Robot Team in a very dynamic hostile environment provided by the RoboCup robotic soccer competitions. 相似文献
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Logical Specification of Reactive and Real-time Systems 总被引:1,自引:0,他引:1
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Specification diagrams (SD's) are a novel form of graphical notation for specifying open distributed object systems. The design goal is to define notation for specifying message-passing behavior that is expressive, intuitively understandable, and that has formal semantic underpinnings. The notation generalizes informal notations such as UML's Sequence Diagrams and broadens their applicability to later in the design cycle. Specification diagrams differ from existing actor and process algebra presentations in that they are not executable per se; instead, like logics, they are inherently more biased toward specification. In this paper we rigorously define the language syntax and semantics and give examples that show the expressiveness of the language, how properties of specifications may be asserted diagrammatically, and how it is possible to reason rigorously and modularly about specification diagrams. 相似文献
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可视化语言文法形式化描述综述 总被引:3,自引:1,他引:3
可视化是人机交互的主要形式,可视化语言是计算机科学中一个重要研究领域,文法为可视化语言提供了一种有价值的形式化描述方法。本文基于可视化语言的特征,介绍了可视化语言文法形式化描述体系的基本理论,分析了几种典型形式模型,并探讨了当前的主要研究内容和面临的挑战。 相似文献
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Achieving effective cooperation in a multi-agent system is a difficult problem for a number of reasons such as limited and possibly out-dated views of activities of other agents and uncertainty about the outcomes of interacting non-local tasks. In this paper, we present a learning system called COLLAGE, that endows the agents with the capability to learn how to choose the most appropriate coordination strategy from a set of available coordination strategies. COLLAGE relies on meta-level information about agents' problem solving situations to guide them towards a suitable choice for a coordination strategy. We present empirical results that strongly indicate the effectiveness of the learning algorithm. 相似文献
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Mazzeo Antonino Mazzocca Nicola Russo Stefano Vittorini Valeria 《Real-Time Systems》1997,13(3):219-236
We describe an approach to the specification of concurrent systems which enables a Petri net model of a system to be built up in a systematic way starting from a trace-based CSP specification. This method enables the separate specification of the behavior of each component (process) and their interactions in terms of the feasible sequences of events in which they can be involved. A set of rules is then applied to transform the trace-based specifications into a complete Petri net that is analyzed and/or executed to validate system behavior. The domain transformation procedure is fully automatable. The specification of a safety-critical railway control system is used as a case study. 相似文献
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针对当前景观评估方法存在的评估准确性差、复杂度高的问题,提出基于模糊统计的园林景观与周边环境视觉协调性评估方法。对评估指标进行初选,其中大致包含园林景观和安全协调性、园林景观和人类视觉协调性、园林景观和生态协调性三部分。根据初选结果,确定景观与周边环境在质量方面的协调性评估指标、景观与周边环境在多样完整性方面的协调性评估指标、景观与周边环境在生态适宜性方面的协调性评估指标三个一级评估指标,并将各一级评估指标划分为若干二级指标。利用模糊统计法对各个评估指标赋予权重,设定指标权重判断的相关专家集合和专家对指标权值判定的区间,通过样本落影函数表征各个集值区间组合的集值统计序列,获取各指标权重值,对其进行归一化,并利用区间方差法对权重赋值可靠程度进行校正。根据二级评估指标赋值结果得到一级评估指标赋值结果,以此构建园林景观与周边环境视觉协调性评估模型。实验结果表明,所提方法评估准确率高、复杂度低。 相似文献
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Modular Control and Coordination of Discrete-Event Systems 总被引:1,自引:0,他引:1
In the supervisory control of discrete-event systems based on controllable languages, a standard way to handle state explosion in large systems is by modular supervision: either horizontal (decentralized) or vertical (hierarchical). However, unless all the relevant languages are prefix-closed, a well-known potential hazard with modularity is that of conflict. In decentralized control, modular supervisors that are individually nonblocking for the plant may nevertheless produce blocking, or even deadlock, when operating on-line concurrently. Similarly, a high-level hierarchical supervisor that predicts nonblocking at its aggregated level of abstraction may inadvertently admit blocking in a low-level implementation. In two previous papers, the authors showed that nonblocking hierarchical control can be guaranteed provided high-level aggregation is sufficiently fine; the appropriate conditions were formalized in terms of control structures and observers. In this paper we apply the same technique to decentralized control, when specifications are imposed on local models of the global process; in this way we remove the restriction in some earlier work that the plant and specification (marked) languages be prefix-closed. We then solve a more general problem of coordination: namely how to determine a high level coordinator that forestalls conflict in a decentralized architecture when it potentially arises, but is otherwise minimally intrusive on low-level control action. Coordination thus combines both vertical and horizontal modularity. The example of a simple production process is provided as a practical illustration. We conclude with an appraisal of the computational effort involved. 相似文献
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Jakob E. Bardram 《Computer Supported Cooperative Work (CSCW)》2000,9(2):157-187
An activity is inseparably bound up with time, and interdependentcooperative activities thus need to be coordinated in time. The nature oftime is therefore an ever-present issue in the design of computer systemssupporting coordination. Based on Activity Theory this paper defines theconcept of Temporal Coordination. Then, based on in-depth studies of thesocio-temporal aspects of coordinating cooperative work at hospitals, thepaper explores this notion of temporal coordination. This analysis identifiessome of the highly intertwined temporal problems, constraints, interests,and conflicts, which arise when work subject to temporal limits is to becoordinated. The paper then introduces the PATIENT SCHEDULER, which isa prototype designed during this project to illustrate how aspects oftemporal coordination can be supported by computer technology. 相似文献
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P.Y.K. Chau 《International Transactions in Operational Research》1995,2(4):341-354
A number of decision support systems (DSS) based on a visual interactive simulation (VIS) model have been implemented in recent years. A key component of a VIS model is the visual model. Existing VIS model development methodologies suggest methods (such as the paper prototype method) for developing a visual model. However, these methods are quite general and do not contain a framework to guide development. This paper describes a framework which combines the paper prototype method with systems concepts to develop the visual model. The proposed framework consists of eight stages. A project proof of principle example is described in which a VIS-based DSS provides support to the owner of a company selling telephone systems. 相似文献
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视频技术的发展为其质量评价的出了新的课题,但由于评价图像质量的关键在于所用视觉模型是否符合人的感知特性,因此评价图象质量必须考虑以视觉锐度,对比度敏感度,多通道结构和掩盖特性为基础的人眼视觉特性(HVS),为了使人们对基于人眼视觉特性的视频质量评价模型研究现状有所了解,介绍了几种目前比较成功的基于HVS的视频质量评价模型,并分析和总结了它们的性能,最后展望了评价模型的发展。 相似文献
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在设计一个分布式多媒体系统时,具有挑战性的问题之一是如何在系统的不同层次为各模式设计合适的规格描述模型,并提供不同模型的变换方法的集成与同步策略,在本文中,我们给出了几种多媒体对象的表示模型和变换算法,它们把高层的多媒体对象变换成可以用来支持多媒体对象展示和通信的实用模式,在该模式中能较好地保持多媒体对象的集成与同步特性。 相似文献