Fig. 2. Multiagent decomposition graph. The dark circle in the figure represents the joint of the manipulator (the manipulator’s default joint is a hinge with only one DOF). Next to the joint represents the agent label to which the joint belongs and the (IMAGE)

Beijing Institute of Technology Press Co., Ltd

Fig. 2. Multiagent decomposition graph. The dark circle in the figure represents the joint of the manipulator (the manipulator’s default joint is a hinge with only one DOF). Next to the joint represents the agent label to which the joint belongs and the

Caption

Fig. 2. Multiagent decomposition graph. The dark circle in the figure represents the joint of the manipulator (the manipulator’s default joint is a hinge with only one DOF). Next to the joint represents the agent label to which the joint belongs and the joint label in the joint graph. For example, A1 in A1,J1 means that the joint belongs to agent 1, and J1 means that the joint number is 1 in the joint graph. Form left to right: single agent, double agents, three agents, the communication distance k and task information. The distance between node A3,J5 and joint subgraph of agent A2 is 1. If k is set to 1, then agent A2 can observe information of node A3,J5.

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