提出基于通用部分全局规划(gpgp)的合同网协议，解决了原有合同网协议的不足，实现了备份任务分派的部分智能化。
Present GPGP based Contract Net Protocol, which resolves the shortages of old Contract Net Protocol and realizes the part intelligentization of assigning backup tasks.
控制系统采用部分全局的方法规划整个控制过程。
The partial global coordination method was used to program the whole control process.
分析了软件人群的协调控制特点及形式，提出了部分-全局规划(PGP)协调控制策略。
Characteristics of coordination control and forms of SoftMan Crowd are analyzed and partial-global planning (PGP) coordination control strategy is put forward.
采用栅格法建立机器人空间模型，整个系统由全局路径规划和局部避碰规划两部分组成。
The whole system includes two parts, the global path planning and the local planning for obstacle avoidance.
采用栅格法建立了机器人工作空间模型，整个系统由全局路径规划和局部避碰规划两部分组成。
The whole system includes two parts: the global path planning and the local planning for obstacle avoidance.
采用栅格法建立了机器人工作空间模型，整个系统由全局路径规划和局部避碰规划两部分组成。
The whole system includes two parts: the global path planning and the local planning for obstacle avoidance.
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