Focusing on the fundamental theories and key technologies of multi-robot distributed coordination systems, we proposed some novel ideas, including hierarchical & hybrid coordination architecture, network-based communication as well as integration of planning and reactive control based on the finite state automata (FSA).

Hierarchical Coordination Optimization of Train Schedule for Transfer in Urban Rail Network;

Hierarchical Coordination Models and Simulation for Responsive Traffic Control and Guidance;

An improved adaptive genetic algorithm (AHGA) based on hierarchical structure for wavelet neural network is presented, which adopts hierarchical chromosomes and adaptive genetic operators.

This paper proposes an intelligent dispatching model with hierarchical structure based on multi-agent theory and technology in order to optimize operating scheming and to improve operating efficiency.

Considering the uncertain network-induced delay in networked control systems,a novel strategy of hierarchical multiple models switching was presented,in which hierarchical structure was adopted to reduce the communication through the shared band-limited network.

This article studies the basic functions and principals of EIA, the results of optimization the most used hierarchy structure in EIA are provided.

In this system,the control sub-area was closed loop road in road network,a three-level stepped distributed construction and the TWP-PSO algorithm were adopted,and the cycle,offsets and splits were optimized hierarchically,then the preset scheme was formed by cooperative controlling for differe.