A hierarchical framework for cooperative control of multiple bio-mimetic robotic fish

CASIA OpenIR > 个人空间

	A hierarchical framework for cooperative control of multiple bio-mimetic robotic fish
	Shao, Jinya; Yu, Junzhi; Fang, Yimi; Xie, Guangmin; Wang, Long; Shao, Jinyan
	2005
会议名称	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
会议录名称	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems
会议日期	August 2, 2005 - August 6, 2005
会议地点	Edmonton, AB, Canada
摘要	This paper presents a hierarchical framework for controlling a group of biomimetic fish robots to achieve cooperative tasks. Based on our previous successful work on the design and development of a robotic fish prototype, we attempt further to investigate the cooperation in groups of these fish. Employing top-down design approach, we propose a hierarchical architecture consisting of five levels: task level, role (or mode) level, behavior level, action level and controller level, to formalize the processes from task decomposition, role assignments and control performance. Two typical cases are developed to demonstrate the feasibility of the architecture and corresponding experimental results show that high efficiency and much greater capabilities are exhibited when the fish try to cooperate.
关键词	Robotic Fish Cooperative Control Hierarchical Behavior Based
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13147
专题	个人空间
通讯作者	Shao, Jinyan
作者单位	Center for Systems and Control, Peking University, Beijing 100871, China
推荐引用方式 GB/T 7714	Shao, Jinya,Yu, Junzhi,Fang, Yimi,et al. A hierarchical framework for cooperative control of multiple bio-mimetic robotic fish[C],2005.