目前，国际上对多机器人系统的研究已成为一个新的研究方向。
Now, the research about multi-robot system has become a new direction.
该文利用滚动规划策略，研究了多机器人系统的协调规划问题。
Using the rolling optimization strategy, the problem of multiple robot coordination and planning is studied.
模块化自重构机器人是一种由许多智能模块组成的多机器人系统。
Modular Self-Reconfigurable Robot(MSR) is a multi-robot system that composited by many intelligent modules.
多机器人系统的组织与控制方式在很大程度上决定了系统的有效性。
The organization and architecture of control heavily affect the validity of the system.
本文主要工作是设计并搭建一套适用于多机器人系统的视觉解决方案。
This paper is to design and set up one solution scheme suitable for multi-robot cooperation systems.
因此，对多机器人系统协调与合作问题的研究具有重要的理论意义和应用价值。
Therefore, the research on coordination and cooperation of multi-robot systems has significant theory and application value.
群机器人学是多机器人系统的一个重要研究方向，其主要特点是系统包含大量个体。
Swarm robotics is one of the important research directions of multi-robot systems, whose major feature is that the system includes many robots.
以多水下机器人的编队任务为例探讨了分布式强化学习在多机器人系统中的应用模式。
Taking formation problem of multiple underwater vehicles as an example, the application model of DRL in multi-robot systems is illustrated.
群机器人系统是多机器人系统的一个重要研究方向，其主要特点是系统包含大量个体。
Swarm-robot system is one of the important research directions of multi-robot systems, whose major feature is that the system includes many robots.
多机器人系统中，随着机器人数目的增加，系统中的冲突呈指数级增加，甚至出现死锁。
In a multiple mobile robot system, interface increases exponentially with the increasing number of robots, even deadlock may occur.
本文提出了基于过程奖赏和优先扫除的强化学习算法作为多机器人系统的冲突消解策略。
A reinforcement learning algorithm based on process reward and prioritized sweeping is presented as interference solving strategy.
这一策略可以解决多机器人系统在未知环境工作时所面临的一项艰巨的任务：自主协作规划。
One of the most important problems to the multi robot system is that, when the system is working in an unknown environment, it has to decide which tasks must be done by cooperation of several robots.
经过优化参数配置使 多机器人系统可以很好地实现相互之间的协调协作，完成无碰运动任务。
Such method helps the multi-robot system to realize coordination and cooperation, complete collision-free movement.
本文结合参与的“多机器人系统协调”项目，研究两轮差动驱动的移动机器人路径跟踪控制问题。
According to the project "multiple mobile robots system coordination", this paper studied the path following control problem of two wheels robots with differential steering.
最后，通过仿真实验实现了整个多机器人系统，并在整个系统中验证了各个算法的可行性和有效性。
Finally, a simulation system is built to realize the Multi-Robot system in the paper, and the feasibility and validity of all the algorithms is verified further.
机器人间的协调是多机器人系统高效工作的关键，它取决于如何为机器人分配任务以及机器人如何执行任务。
The coordination of robots is the key of effective task for multi-robot system. Kernel problems of multi-robot coordination are task allocation and task administration.
多机器人系统、多机器人协调协作的研究己成为机器人学研究中一个充满活力、具有良好应用前景的研究方向。
The study of multi-robot system and multi-robot coordination has become an important research direction full of vitality, and has good prospects for the application.
通过协调协作策略的应用，多机器人系统避免了错误的、无效的传感信息的使用，保证了信息融合的准确性。
The invalid or unreasonable sensing information is avoided by cooperation strategy, and the precision of data fusion is guaranteed.
作为水下机器人技术中的关键技术，研究如何实现水下机器人运动的精确控制以及多机器人系统控制具有重要意义。
As the key technology, the research on how to control and coordinate multiple AUVs has important significance in theory and practice.
论文结尾对全文进行了总结并对多机器人系统的协作的进一步研究、对移动机器人路径跟踪的深入探讨进行了展望。
The summary of the full text and the view of mobile robot research in multi-robots cooperation and path track have been shown in the end of thesis.
该系统是以功能已知的基本单元，采用模块化组合构成不同结构的成员机器人、多个成员机器人形成的多机器人系统。
The system would be based on the basic element with the well known function to apply the module combinations to form different structural member robot, multi member robot formed multi robot system.
在一个异种多机器人系统(HMRS)中，由于不同种类机器人的特征和功能不同，使得要实现它们的协作行为变得很困难。
In a heterogeneous multi-robot system (HMRS), it is difficult to implement their cooperative operations because of different features and functions of various kinds of these robots.
将多机器人作为一个整体，从系统的角度研究多机器人系统的整体行为和组织结构，已成为机器人、人工智能和控制、决策领域的关注热点。
Research on the behavior and organizing construction of multi-robot system as a whole in view of system has been a focus in the areas of robot, artificial intelligence, control and strategy.
本文针对异构分布环境下的多机器人系统 ，提出了一种基于CORBA规范和框架请求代理 （FRB）这一方式的应用系统集成模型 。
This paper presents a system integration model based on CORBA and Frame Reques Broker (FRB) in accordance with heterogeneous distributed Multirobot system.
TeamBots是一个可移植的多代理机器人仿真器，它可以支持动态环境中多代理控制系统的仿真，并可以提供可视化功能。
TeamBots is a portable multi-agent robotic simulator that supports simulation of multi-agent control systems in dynamic environments with visualization.
论述了一类通用的经过通信信道进行协调的多移动机器人编队控制系统。
A class of general multiple mobile robots formation control system of achieving coordination through communication channel was described.
本文以足球仿真机器人系统为研究平台，研究多智能体对抗系统的高层策略学习问题。
Based on soccer robot simulation as its research platform, this paper studies the learning of high level strategy of multi-agent adversarial system.
机器人足球比赛系统是典型的多智能体协作系统，是研究多智能体协作问题的标准平台。
Robot soccer match system is a typical multi-agent cooperation system; therefore it is a standard platform for researching multi-agent cooperation problem.
本文基于多智能体系统理论，研究了多智能体机器人系统的底层实时调度问题。
This paper will study under layered real-time scheduling problem, which is based on the theory of MAS (Multi-agent System).
本文基于多智能体系统理论，研究了多智能体机器人系统的底层实时调度问题。
This paper will study under layered real-time scheduling problem, which is based on the theory of MAS (Multi-agent System).
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