可持续自主学习的micROS机器人操作系统平行学习架构
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摘要
作为机器人平台最重要的基础软件,机器人操作系统是提高机器人自主性与智能化水平的核心和关键.围绕实现适应环境的智能机器人系统这一目标,基于已有的micROS研究,提出了可持续自主学习的群体智能机器人操作系统平行学习架构,描述了架构设计、核心概念、实现途径和应用验证.在micROS可扩展分布式层次架构的基础上,提出了支持可持续自主学习的平行学习架构,设计并实现了机器人操作系统的两大核心概念——基于"角色"的控制抽象和基于"语义情境图"的数据抽象,突破了群体智能行为操控、自组织无线网络等群体机器人自主智能协同急需解决的关键技术问题,在此基础上开展了面向多种场景的应用验证.
As the most important infrastructure of robotic platforms,robot operating system is playing an important role to improve autonomy and intelligence of robots and unmanned systems.In this paper,aparallel learning architecture of micROS supporting life-long autonomous learning is presented.It is built to power a wide variety of robots with the ability of contextual adaptation.In addition,two core concepts guiding the design of micROS are also presented.One concept is the actor,which is the control abstraction of robot behaviors.The other concept is the semantic situation abstracting the dataflow in micROS.Some important techniques including collective behavior control and ad hoc wireless networks,are also described in this paper.
As the most important infrastructure of robotic platforms,robot operating system is playing an important role to improve autonomy and intelligence of robots and unmanned systems.In this paper,aparallel learning architecture of micROS supporting life-long autonomous learning is presented.It is built to power a wide variety of robots with the ability of contextual adaptation.In addition,two core concepts guiding the design of micROS are also presented.One concept is the actor,which is the control abstraction of robot behaviors.The other concept is the semantic situation abstracting the dataflow in micROS.Some important techniques including collective behavior control and ad hoc wireless networks,are also described in this paper.
引文
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[2]Yang Xuejun,Dai Huadong,Yi Xiaodong,et al.micROS:A morphable,intelligent and collective robot operating system[J].Robotics&Biomimetics,2016,3(1):21-29
[3]Asama H,Matsumoto A,Ishida Y.Design of an autonomous and distributed robot system:Actress[C]Proc of IEEE Int Workshop on Intelligent Robots and Systems(IROS'89).Piscataway,NJ:IEEE,2002:283-290
[4]Fukuda T,Kawauchi Y,Asama H.Analysis and evaluation of cellular robotics(CEBOT)as a distributed intelligent system by communication information amount[C]Proc of IEEE Int Workshop on Intelligent Robots and Systems(IROS'90).Piscataway,NJ:IEEE,1990:827-834
[5]Jin K,Liang P,Beni G.Stability of synchronized distributed control of discrete swarm structures[C]Proc of IEEE Int Conf on Robotics and Automation.Piscataway,NJ:IEEE,1994:1033-1038
[6]Rubenstein M,Ahler C,Nagpal R.Kilobot:A low cost scalable robot system for collective behaviors[C]Proc of IEEE Int Conf on Robotics and Automation.Piscataway,NJ:IEEE,2012:3293-3298
[7]Alami R,Fleury S,Herrb M,et al.Multi-robot cooperation in the MARTHA project[J].IEEE Robotics&Automation Magazine,1998,5(1):36-47
[8]Ducatelle F,Caro G A D,Gambardella L M.Cooperative self-organization in a heterogeneous swarm robotic system[C]Proc of Genetic and Evolutionary Computation Conf(GECCO 2010).New York:ACM,2010:87-94
[9]Ampatzis C,Tuci E,Trianni V,et al.Evolving selfassembly in autonomous homogeneous robots:Experiments with two physical robots[J].Artificial Life,2009,15(4):465-484
[10]Levi P,Kernbach S.Symbiotic Multi-Robot Organisms:Reliability,Adaptability,Evolution[M].Berlin:Springer,2010
[11]Hauert S,Zufferey J C,Floreano D.Evolved swarming without positioning information:An application in aerial communication relay[J].Autonomous Robots,2009,26(1):21-32
[12]Karpov V,Karpova I.Leader election algorithms for static swarms[J].Biologically Inspired Cognitive Architectures,2015,12(4):54-64
[13]Utz H,Sablatnog S,Enderle S,et al.Miro-middleware for mobile robot applications[J].IEEE Transactions on Robotics,2002,18(4):493-497
[14]Makarenko A,Brooks A,Kaupp T.Orca:Components for robotics[C]Proc of Int Conf on Intelligent Robots and System.Piscataway,NJ:IEEE,2006:328-333
[15]Ando N,Suehiro T,Kitagaki K,et al.RT-component object model in RT-middleware-distributed component middleware for RT(robot technology)[C]Proc of IEEE/RSJ Int Conf on Intelligent Robots&Systems.Piscataway,NJ:IEEE,2005:457-462
[16]Hedges R,Stoy K,Bers J,et al.The player project[EB/OL].[2018-10-18].http:playerstage.sourceforge.net
[17]Hong S,Lee J,Eom H,et al.The Robot Software Communications Architecture(RSCA):Embedded Middleware for Networked Service Robots[M].Piscataway,NJ:IEEE,2006
[18]Bruyninckx H.Open robot control software:The Orocos project[C]Proc of IEEE Int Conf on Robotics and Automation.Piscataway,NJ:IEEE,2001:2523-2528
[19]Metta G,Fitzpatrick P,Natale L.YARP:Yet another robot platform[J].International Journal of Advanced Robotic Systems,2006,3(1):43-48
[20]Quigley M,Gerkey B,Conley K,et al.ROS:An opensource robot operating system[C]Proc of ICRA Workshop on Open Source Software.Piscataway,NJ:IEEE,2009:1-6
[21]Anseth K,Berry D,Boyden E,et al.35innovators under 352013[J].MIT Technology Review,2013,116(5):26-83
[22]Kalyani G K,Yang Z,Gandhi V,et al.Using robot operating system(ROS)and single board computer to control bioloid robot motion[C]Proc of Conf Towards Autonomous Robotic Systems.Cham,Switzerland:Springer,2017:41-50
[23]Mishra R,Javed A.ROS based service robot platform[C]Proc of the 4th Int Conf on Control,Automation and Robotics(ICCAR 2018).Piscataway,NJ:IEEE,2018:55-59
[24]Majumdar A,Gamez N,Benavidez P,et al.Development of robot operating system(ROS)compatible open source quadcopter flight controller and interface[C]Proc of System of Systems Engineering(SoSE).Piscataway,NJ:IEEE,2017:1-6
[25]Zhang Ying,Ping Xueliang,Wang Chenxue,et al.Control system of serial robot based on ROS and EtherCAT[J].Transducer&Microsystem Technologies,2018,37(3):106-109(in Chinese)(张颖,平雪良,王晨学,等.ROS下基于EtherCAT的串联机器人控制系统[J].传感器与微系统,2018,37(3):106-109)
[26]Zheng Weilei,Cheng Lei,Huang Jian,et al.Research on path planning of family nursing robot based on robot operating system[C]Proc of Int Conf on Advanced Robotics&Mechatronics.Red Hook,NJ:IEEE,2016:47-53
[27]Aini F R Q,Jati A N,Sunarya U.A study of Monte Carlo localization on robot operating system[C]Proc of Int Conf on Information Technology Systems&Innovation(ICITSI).Piscataway,NJ:IEEE,2016:1-6
[28]Defense Advanced Research Projects Agency(DARPA).Broad agency announcement:System of systems integration technology and experimentation(SoSITE)[OL].DARPA-BAA-14-40,2014.[2018-11-01].https:www.fbo.gov/utils/view/id=3cebe2029f49f615993433e37c49ca2d
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