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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
Conference NameIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Source PublicationIEEE IRS/RSJ International Conference on Intelligent Robots and Systems
Conference DateAugust 2, 2005 - August 6, 2005
Conference PlaceEdmonton, AB, Canada
AbstractThis 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.
KeywordRobotic Fish Cooperative Control Hierarchical Behavior Based
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13147
Collection个人空间
Corresponding AuthorShao, Jinyan
AffiliationCenter for Systems and Control, Peking University, Beijing 100871, China
Recommended Citation
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.
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