!"#$
%&'( )'* +& ,&++
!"
#"$ %
&%'
'- - '- - # ". $" " "# - $.
" / #- - $" /
0 12$ 0 " - $" $ 0 " / # 0 # - 3 $ 0 - $.
" 4 "" 12 $ "" $ 0.4 - $" / "#
.
- 3 $ .- "" # # 0 ## ". $" ##
.
"" /3 / 0 ## /
"$ 0 / - " 5 $"
4 "- - 3
$ "#$ ""
()
6 ". "# - 5 ! " # ! $ 7
* +* ," * ' -
". /
Æ front view
stereo camera
top view
camera
side view
camera
robot 2
+
hand
camera
robot 1
+
hand
camera
* 7 !"#2 #
% & ' () *+, -( %. $/ 0 1 "20# ' " 3 '# 4 ' *2 1 '
) 24 5%67 %(7$ ! Æ ) 1 . 8 2 ' ! $ 5%67 ! * +* ," * ' -
". /
8
9 : . 4 7 ( ; "( ;&# "( ;;# "( ;*# "( ;<# 7 ( * ' 4 ( < ! "# $%#& '##
7 . (
! 7 ( : :
7 ( ! ! ;&& 5 ; %
. ! 9
* +* ," * ' -
". /
Master Agent
Inference Engine
Working
Memory
General
Knowledge
Individual
Knowledge
Communication Module
* 0 " &
;
7
5 ! *
<
>
. = ( ) * +* ," * ' -
". /
:
7 4 . ? . % % * @ ;&; % ' ( ( 0 % :
? : ¯ : 4 ¯ ¯ ¯ Æ ;
* +* ," * ' -
". /
7 ' 4 ! &
;
0 % *
<
( ! % & Æ . * +* ," * ' -
". /
<
7 *" "" 0 "
! % ' & ' AA . " "
" " " " " " 4 Æ . %
( 4
?
=
* +* ," * ' -
". /
% *
! . " # % Type 2
Master
Task B
Master
Task A
Slave
Slave
Task B1
Task B1
Type 1
Type 3
Master
Master
Task C
Task C
Slave
Slave
Slave
Slave
Task C1
Task C1
Task Cn
Task Cn
* 8 (2"# 0 "" /3
7 . 5 ! * +* ," * ' -
". /
>
5 : . Æ ) 1 . ! . ) % : 7 4 4 4 ¯
7 % 4 . 0 . ¯
% % ¯
. 7 % ' =
: 7
* +* ," * ' -
". /
( *+#&#,! #%!%
% ' 44 $BB ! ! ! & 7 ! 4 ; " ( * # $
. . < " %& ' 44
.
( 9 ! @
$ ((9 % .
( ;; < * +* ," * ' -
". /
77
; % ' 4 ' % '
7 " # ( . . "# = % "#
. " *# " # = C "# '
"#
= ' 4 . ' ' . "# "#
0 " #
! "
# # $ # % ##
& '() ##
* '() + '() (,(-)(!
(,(-)(!
. # / '() # 0 "#
# '() "#
# ! '() (,(-)(!
$ (,(-)(!
+ (,(-)(!
7
* +* ," * ' -
". /
Master
Communicator
1
12
Master
Object
Recognition
2
7
8,10
9,11
9,11
8,10
Master
Slave
Slave
Feature
Extraction
Object
Recognition
Object
Recognition
3
6
Master
Image
Processing
4
5
4
5
Slave
Slave
Image
Processing
Image
Processing
* 9 0.4 $" * +* ," * ' -
". /
78
% * 7 ! ,&D,< ,>D&, . . &&D&* 8 "$ -..$ #" #
#$ "
% &
' ! () *+,-+./
#0 "
% 1 " "
" " " " " #1
#2 "
% 3
4 #5 "
%
#6
#7
#%
#8
#'
$#
"
$# "
% #
"
2 "
$# $#
"
$#
"
6 "
2 "
0 "
2
"
2
$$ 3
4 9:.;+*
$0 3
4 1 -:<:=;:
0
-:<:=;:
01
$2 3
4 "
0 "
6
> > . > > . > . % 4 ' ' . . * % ' C . >
" #
: 79
* +* ," * ' -
". /
* : ' 0 ) !%% , # #%#,'
9 :
4 . 4
: % : : ! ! * +* ," * ' -
". /
7:
-.!#"&#
0A 2 /% 3
/ " #
#/###%
! "#
$ % & '' () * ++,
- . /
0
$ % & * % % 12
3 4 (5 61 ++7 ,89,8:
8 . /
0 $ ; <=#; * *> < ++7 ?,9:
7 # <=#; &2 4 ++@ $ % &
; 12 ++, --A9-8?
A . /# $ % $ ++: -,:9-:
@ B % 1 !
" 32 !# 1; & ++:
, C D <
## $ $ % % & 002 12
>
# = 61 ++: A@@9A,
: C D <
%## $ $ $ % & 1 $
E &# ++: +?:9+
+ & 1# %&
' # '
$ % 12
;
% 12
>
5 * 61 ++: