| Summary: | 碩士 === 國立交通大學 === 電機與控制工程系 === 87 === The research of multiagent systems has been widely studied for many years, however, the topic of multirobot team competitions has not been extensively investigated. In this thesis, we propose a fully distributed, behavior-based software architecture termed Emerge, which facilitates flexible and reliable coordination on a team of robots performing tasks that may be subverted by another team of robots. Emerge enables the robots to achieve flexible action selections in response to the requirements of the task, the current environmental situation, the activities of the teammates and opponents, the internal states of the robot, and the performance measures inhered in the competitions. This reliable action selection process is achieved through the use of four mathematically-modeled motivations: practicability, feasibility, tendency and execution priority. With the aid of these motivations, the human knowledge, which usually involves a number of fuzzy concepts, may be conveniently merged into the robot team by following a clear and logical design procedure. Moreover, Emerge also incorporates the capability of learning. Through the use of genetic algorithm, the robot team may learn from the past task execution experiences and improve its performance. The feasibility of this architecture has been demonstrated through simulations and experiments on a team of mobile robots performing 3-on-3 robot soccer games.
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