A compound unicast routing algorithm is presented, making use of the characteristics of satellite mobile communication network topology.

利用卫星移动通信网的拓扑特点提出了复合单播路由算法。

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Then, the communication model for MARS is deeply studied, the MARS fitted model of high layer communication and topology structure of under layer network are provided.

然后对多智能体机器人系统的通信模型进行了深入研究，给出了适合MARS的高层通信模型和底层网络拓扑结构；

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The topology of control network, system management, communication between control equipment and CPU, human machine interface (HMI) were clarified.

阐述了控制网络的结构，系统的管理，所控制设备与控制器间的通讯及人机界面。

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