Distributed multi-agent task cooperation method based on linear sequential logic

A linear sequential logic, multi-agent technology, applied in data processing applications, instruments, computing, etc., can solve problems such as multi-agent task decoupling

Active Publication Date: 2020-06-26
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In view of this, the present invention provides a distributed multi-agent task collaboration method based on linear sequential logic, which solves the problem of multi-agent task decoupling

Method used

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  • Distributed multi-agent task cooperation method based on linear sequential logic
  • Distributed multi-agent task cooperation method based on linear sequential logic
  • Distributed multi-agent task cooperation method based on linear sequential logic

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Embodiment Construction

[0043] The following describes the robot as an example.

[0044] see figure 1 and figure 2 , the present invention's distributed multi-robot task collaboration method based on linear sequential logic comprises the following steps:

[0045] ●Under normal working conditions, each robot independently constructs its own decoupled product Büchi automaton, and constructs its own action sequence through this automaton. The decoupled product Büchi automata here is the result of adding coupled sets to the product Büchi automata. Coupling edges and their trigger conditions are recorded in the coupling set, and the endpoints of the coupling edges correspond to the actions that need to be coordinated.

[0046] ●When each robot independently executes the local action sequence by using the decoupled product Büchi automaton, judge whether the currently executed action and its corresponding trigger condition are in the coupling set, and if so, the currently executed action is an action th...

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Abstract

The invention discloses a distributed multi-agent task cooperation method based on linear sequential logic, and solves the problem of multi-agent task decoupling. Each intelligent agent constructs a decoupling product Buchi automatic machine of the intelligent agent by detecting a coupling edge, and constructs an action sequence of the intelligent agent through the decoupling product Buchi automatic machine; the endpoints of the coupling edges correspond to actions needing cooperation; when each intelligent agent independently executes an action sequence of the intelligent agent by utilizing the decoupling product Buchi automaton, whether a currently executed action and a corresponding triggering condition are in the coupling set or not is judged, and if so, it is determined that the currently executed action is an action needing cooperation, and the cooperative intelligent agent is asked to cooperatively make an action; and when the agent fails, the task that the agent responsible forinheritance inherits the failed agent is elected.

Description

technical field [0001] The invention relates to the field of artificial intelligence, in particular to a distributed multi-agent task cooperation method based on linear sequential logic. Background technique [0002] Linear Temporal Logic (Linear Temporal Logic) is a technical field with research prospects in the field of artificial intelligence. Linear sequential logic can use programming language to model a series of complex tasks with temporal relationships, and transfer the language through graphical models, so that complex temporal relationships can be constrained by a series of conditional transfers. Due to its completeness, this method is used in a wide range of fields. In the field of multi-agents, some traditional methods are difficult to model due to the complex tasks and coupling characteristics of the multi-agent system, but the linear sequential logic can model the multi-agent system very well. complex tasks. [0003] For the temporal logic planning task in a...

Claims

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Application Information

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IPC IPC(8): G06Q10/06
CPCG06Q10/0631G06Q10/067
Inventor 方浩田戴荧陈杰杨庆凯曾宪琳尉越陈仲瑶
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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