动态规划在基于混合式架构的移动机器人上进行。

Dynamic programming is carried out on the basis of the hybrid architecture for mobile robot.

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文章设计了一种基于双层混合式P 2 P模型的协同架构，结合了本地组的传送树结构和结构化骨干网结构。

This paper designs a P2P based hybrid collaborative model, which combines local delivery tree and structured backbone network.

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