机器人2013，Vol.35Issue(4)：462-469,8.DOI:10.3724/SP.J.1218.2013.00462
竞争型网络机器人体系结构研究
An Architecture for the Competitive Networked Robot System
摘要
Abstract
A hierarchical architecture is developed for the competitive networked robot system,in order to provide a general platform for competitive networked robot systems with strong interaction.In the proposed architecture,the function of strategic layer is to recognize opponent's intention,estimate threat and generate strategy.To deal with the uncertainty in perception caused by the noise and time-delay,and that in action caused by the hostile action from the opponents,the executive layer is adopted in this architecture.The physical interface layer is used to transfer the command from executive layer into bottom command which can control robots.A typical task with high degree of opposition of competitive networked robot,named Tele-LightSaber (TLS),is proposed for the research on competitive networked robots.Finally,experimental results on TLS platform show the practicality and advantages of the proposed method.关键词
竞争型网络机器人/分层结构/意图识别/马尔可夫决策过程Key words
competitive networked robot/ hierarchical structure/ intention recognition/ Markov decision process分类
信息技术与安全科学引用本文复制引用
李岩,曹琳,孙雷,刘景泰..竞争型网络机器人体系结构研究[J].机器人,2013,35(4):462-469,8.基金项目
国家自然科学基金资助项目(60905061) （60905061）
天津市科技计划资助项目(08JCYBJC12700). （08JCYBJC12700）
