The generation of efficient high level plans and the robot world representation in a cooperative community of robotic agents

摘要

Deals with the following main topics: the view of a robotic cell as a community of intelligent systems; the efficient generation of high-level plans to assemble parts of real objects; and the translation from perception outputs (obtained by computer vision) to symbolic relationships. In the approach, the robotic multi-agent community has six members: the user, the object models, the object identifier, the world descriptor, the high level planner and the low level executor. The distributed artificial intelligence is the framework and the communication between different agents is supported by message passing primitives.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>