Frame for multi-robot motion planning based on local sensing and communication

In the research of Multi-Robot Systems(MRS),MRS based on local sensing and communication require special designs.An integrated frame based on local sensing and communication is described and simulated for motion planning which is demanded by many Multi-Robot tasks.The frame includes an environmental model,a distributed architecture,a dynamic communication network,planning and coordination algorithms.The coordination of MRS is well grounded on the dynamic communication network,special particularities of local sensing and communication are considered in the designs of environmental model as well as algorithms of planning and coordination.As for the evaluation of the frame,a simulated model which is based on blackboard architecture is proposed and implemented.