Research on architecture of multiple robots system based on the dynamic networks

To resolve the motion planning problem of multiple robots system, we present an improved architecture based on the dynamic robot networks. The presented architecture includes the group structure and the single robot structure. The group structure adopts the improved hierarchical structure, which can realize centralize coordination because it has the dynamic robot networks based on communication. This group architecture can be applied to the special situation such as earthquake and flood etc. Layered hybrid architecture for single robot is presented. It blends the advantages of the reactive architecture and the deliberative architecture and it increases a supervisory layer. The whole control architecture realizes not only autonomous motion of single robot but also cooperation of multi-robot systems.