Paper Info
Title
Knowledge model-based heterogeneous multi-robot system implemented by a software platform
Abstract
In order to build a heterogeneous multi-robot system that can be regarded as a primitive prototype of a future symbiotic autonomous human-robot system, this paper presents a knowledge model-based heterogeneous multi-robot system implemented by a software platform. With using frame-based knowledge representation, a knowledge model is constructed to describe the features of heterogeneous robots as well as their behaviors according to human requests. The required knowledge for constructing a heterogeneous multi-robot system can be therefore integrated in a single model and shared by robots and users. Based on the knowledge model, the heterogeneous multi-robot system is defined in the Software Platform for Agents and Knowledge Management (SPAK) by use of XML format. With the use of SPAK, the cooperative operation of heterogeneous multi-robot system can be flexibly carried out. The proposed system not only can integrate heterogeneous robots and various techniques for robots, but also can automatically perform human-robot interaction and plan robot behaviors taking into account different intelligence of robots corresponding to human requests. In this paper, an actual heterogeneous multi-robot system comprised by humanoid robots (Robovie, PINO), mobile robot (Scout) and entertainment robot dog (AIBO) is built and the effectiveness of the proposed system is verified by experiment.
Year
DOI
Venue
2007
10.1016/j.knosys.2006.04.019
Knowl.-Based Syst.
Keywords
DocType
Volume
frame-based knowledge representation,software platform,heterogeneous multi-robot system,actual heterogeneous multi-robot system,required knowledge,knowledge model,entertainment robot dog,proposed system,heterogeneous robot,human request,knowledge representation,humanoid robot,human robot interaction,knowledge management,mobile robot
Journal
20
Issue
ISSN
Citations 
3
Knowledge-Based Systems
4
PageRank 
References 
Authors
0.43
12
2
Name
Order
Citations
PageRank
Tao Zhang1422100.57
Haruki Ueno212918.02