在机器人足球赛中多智能体系统的发展

在机器人足球赛中多智能体系统的发展(中文5100字,英文3000字)
一、介绍
随着现代工业的发展，应用机器人的需要在增加。尤其是移动机器人在工业和研究领域中逐渐地扩大了其应用。对移动机器人的研究主要集中在单一移动机器人。但是，随着机器人执行复杂任务的增加，多智能体系统的发展是必须的。
许多学者研究多智能体系统。一般来说，多智能体系统定义为超过2个的机器人，通过协作完成给定任务的系统。整个系统相对于单一机器人系统有许多不同特点。首先，机器人所在的环境是动态的。在多智能体系统中，机器人本身构成了动态环境，因为每一个机器人应该识别出其余的机器人为移动障碍物。早些的对于移动机器人的研究都是假定环境是静态的，甚至是单一移动机器人的研究。第二，由于是通过协作完成既定任务的，很有必要对于机器人的角色做整个系统规划。多智能体系统的一个明显特征是协作，举例来说，2个机器人搬东西。为了相互协作，机器人位置的改变必须要预测。有一些方法可以知道机器人的位置。举个例子，机器人相互通讯自己的位置，或者管理员探测到机器人的位置并传递给每个机器人。这是一个与通讯有关的问题。第三，系统的每一部分，例如机器人、管理员、传感器、通讯设备必须正常，因为他们将会影响整个系统的运行，并且必须采用合适的结构。

英文资料及中文翻译
Development of a multi-agent system for robot soccer game
一、 Introduction
As modern industrial society progresses, the needs for useful robots are growing. Especially, mobile robots are special issue that gradually expands its realm in industrial and studying topics. Researches on mobile robots have been mainly concentrated on single mobile robot. But, the development of multi-agent system is strongly needed by the growth of complexity of tasks for robots to perform.
The multi-agent systems have been studied by many researchers[l-3]. Generally, multi-agent system is defined as the system composed of more than 2 robots [4] and performs the given task by cooperation. The system has some different factors compared with single robot system. First, the environment for robots to confront is dynamic. In multi-agent system, the robots themselves constitute dynamic environment, because each robot should recognize the other robots as moving obstacles. Many previous researches on mobile robots assume that the environment is static, even for the researches on single mobile robot[5,6]. Second, since the system performs given task by cooperation, it is necessary to make overall system plan for roles of robots. One of the obvious characteristics of the multi-agent system is cooperation - for example, 4-5 robots carry furniture [7]. To cooperate one another, the changes of robots position must be predictable. There are some ways to know the robots position. For example, robots communicate their position one after another, or a supervisor detects robots' position and transmits them to robots. It is related to communication problem. Third, each component of the system such as robots, a supervisor, sensors, communication equipment is well developed, because they influence the overall system performance. Also, it is necessary to adopt appropriate architecture.