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Abstract: Control capability of human being can be expanded by operating remote robots through the Internet. But it is becoming the hotspot of how to achieve the excellent performance under the complexity and uncertainty of the system. By analyzing control modes of the multirobot teleoperation system, it is clarified that agent technology is supported to realize the incorporation of the intelligence of the operators and local autonomous ability of the robots to finish the teleoperating tasks. On the basis of the summary of agent technology, connection characters among the agents is analyzed and layered structure of abstract agent with public attributes is presented. Functional descriptions of each agent in a node are also depicted. System architecture is realized based on distributed layered blackboard and agent node structure. A set of auxiliary medical operational experiments are designed to test the feasibility and effectiveness of tele-robots system by measuring the work state and efficiency of real-time collision avoidance agent.
Key words: Multi-agent Blackboard structure
Multi-robot Tele-operation
CLC No: U270
国家863计划资助项目(2001AA422250). Received 20051027, received in revised form 20051215
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