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AITEC Contract Research Projects in FY1996 : Software
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(9) Design of Multi-Agent type Robot Language/System
Dr.Fumio Mizoguchi, Professor, Science University of Tokyo
Cooperative Robot Programming Language / System
by
Professor Fumio Mizoguchi
[Software Features]
The unique feature of this software is the implementation of cooperative
multi-robot programming using general-purpose parallel programming in KL1.
The software provides multi-robot programming examples
and multi-agent cooperative problem solving demonstrations
as distinctive features of KL1 for
application users in the robot research community.
The outline of the two components is as follows:
- Multi-robot programming examples
A set of basic programming methods and techniques for single and cooperative robot control.
- Multi-agent cooperative problem solving
Implementing a task of picking and placing distributed blocks and boxes by negotiating with multiple robots (manipulators).
These components are based on several KL1 facilities
such as synchronization, communication, parallel execution,
and priority functions; these facilities clarify the features
of KL1 programming.
In addition, without using real robots, the software demonstrates a virtual robot execution environment based on a graphical user interface.
This allows us to monitor cooperative operations of multiple-robots
through graphical animation.
This component is implemented in the Java language.
[Required Environment]
- Robot language
- machine : UNIX machine
- The environment that KLIC runs.
- Virtual System
- machine : UNIX machine
- OS : Solaris
- The environment that Java runs.
- Vision system
- machine : UNIX machine
- OS : Solaris
- The video board is needed.
- Using robot
- The five degree-of-freedom manipulator RV-M1 made by Mitsubishi Electric Corporation.
[File Configuration]
0.05MB
SOURCE Directory for Source File
+------calib.kl1 program for calibration.
+------commv.kl1 execution control module.
+------function.kl1 utility functions.
+------is.kl1 environment vision module.
+------plan.kl1 planning moudle.
Doc User's Manual
DATA Image processing program
Sample Sample programs
C_Prog Program for the control of RS232C
JavaRob Virtual System
[FTP]
- README
- Program and Documents in Japanese [120.2K]
www-admin@icot.or.jp