Then-the categorization and working characteristics of control network scheduling protocols are expounded 接着,阐述了控制网络调度协议的类别和工作特点。
This paper will study under layered real-time scheduling problem, which is based on the theory of mas ( multi-agent system ) . first, we research the structure model of mars, then an uniform model based on han ( hierarchical agent networks ) is proposed, which can unify all sorts of model; second, the communication model of mars has been studied, then we propose high level communication model and under layered network topology model, and they are the same with mars; three, ground on above, a real-time cimunication protocol for mars-----rtcmr has been presented . in this paper, we study the under layered real-time scheduling protocol of rtcmr, which include real-time process scheduling and real-time message scheduling 本文首先研究了多智能体机器人系统结构模型,提出了多层次智能体网络一体化模型,该模型对各种结构模型分类进行了统一;然后对多智能体机器人系统的通信模型进行了研究,提出了适用于mars的高层通信模型和底层网络拓扑;在此基础上,提出了基于多智能体机器人系统的实时通讯协议??rtcmr,本文对rtcmr的底层调度协议进行了研究,包括实时任务调度和实时报文调度,提出了spts协议系统,建立了spts算法的数学理论模型,spts协议系统在实现了实时任务的绝对时限保证的同时也实现了底层实时报文传输的绝对时限保证,实现了实时任务调度和实时报文调度的统一,最后,提出了基于spts协议的spptsp统一控制结构,并给出了该结构的统一调度petri网模型。