期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/56103
语种：English
出版社：SAGE Publications
摘要：This paper presents a conceptual framework for dynamically migrating the decisions of multi-component robots within different physical sub-components. At the higher layer, a decision-making distributed migration system embeds the rules written in a knowledge-based system (KBS). The rules are written and decisions are made at one component, which can be migrated by the underlying distributed system. This eventually results in intelligent migration of the decisions and robot survival, irrespective of a particular physical component failure. Moreover, a robot does not need an exclusive control system for each component. The implementation is a two-step process. Initially, component-specific facts are identified and mapped to suit to respective components and to write rules and explore different gestures and behaviour of the robot. The second step is the embedding of these rules within the distributed or agent-based system and allowing the decisions to float around the system. The Jess (Java Expert System Shell) expert system is used as the knowledge-based tool and different gestures are generated to realize the proposed method.
