Abstract According to the needs of social development and the current technologies situation, a M2M2A （Man or Machine to Machine to Actuate-Action）solution is proposed for multi-robot cooperative work which is capable of M2M interactions, environmental adaptability, Self-organization, intelligent decision-making to impletment an Actuate-Action for a given task.An infrastructure of a large organization of humans, software agents and robots is firstly designed. A hybrid M2M communication model of C/S and P2P is constructed that C/S model is for remote information transmission of control commands and machine information between man to machines, P2P model is for information sharing among those machines. A series of software agents is developed to realize self-localization, environment perceiving, collision-free path optimization, trajectory planning and motion control for robots actuate-action. An open and modular software framework integrates communication module, intelligent decision module and control module into collectives. An experiment is implemented and shows each of those modules cooperatively work together to accomplish the task adaptively by interactive scenarios.
Received: 24 February 2017
Published: 27 June 2017