Multi-robot system under decentralized control has become to attract international attention as a solution for the difficult and complex tasks. Decentralized systems are expected to have flexibility of architecture and fault tolerance. But these systems are not suitable for the tasks that their order of work have to be considered, because in many cases, each robot's behavior and whole system's purpose are hard to match. This paper describes the algorithm for multi-robot system to solve such 'sequential' tasks using idea of social choice theory and petri net. The introduction of multi-robot system that is developed in this research is also described in this paper.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2007 1|
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