CLC number: TP311
On-line Access: 2020-11-13
Received: 2020-04-30
Revision Accepted: 2020-09-20
Crosschecked: 2020-10-10
Cited: 0
Clicked: 4109
Citations: Bibtex RefMan EndNote GB/T7714
https://orcid.org/0000-0002-4314-5862
https://orcid.org/0000-0002-8033-7943
Chi Hu, Wei Dong, Yong-hui Yang, Hao Shi, Fei Deng. Decentralized runtime enforcement for robotic swarms[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2000203 @article{title="Decentralized runtime enforcement for robotic swarms", %0 Journal Article TY - JOUR
机器人集群的去中心化运行时强制方法胡驰1,董威1,杨永辉2,史浩1,邓霏2 1国防科技大学计算机学院,中国长沙市,410073 2中国工程物理研究院计算机应用研究所,中国绵阳市,621999 摘要:机器人系统设计通常是自下而上的,这种开发方式使机器人群体很容易受到环境影响。具体来说,目前广泛使用的集群控制模型不能保证宏观上群体任务的正确性,也不能保证微观上机器人节点间交互的安全性。因此,为确保机器人行为在运行时的安全性,有必要考虑机器人集群系统在不确定环境下的复杂性质。运行时强制技术能确保状态序列始终满足给定性质,并且避免状态爆炸的问题。虽然在其他领域出现了一些运行时强制的工作,但目前还不能解决机器人集群问题。本文通过引入宏观/微观性质强制框架、防护器以及一个离散时间的强制机制(discrete-time enforcement,D-time强制)解决该问题。论述了领域规约语言和强制器合成算法,然后,将此方法应用到一个机器人集群仿真工具robotflocksim中合成强制器。以无人机集群任务为例实现了该方法,并对实验效果进行讨论。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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