A distributed architecture for executing complex tasks with multiple robots

Author

M?¤enp?¤?¤, Topi ; Tikanmaki, A. ; Riekki, Jukka ; Roning, Juha

Author_Institution

Dept. of Electr. & Inf. Eng., Oulu Univ., Finland

Volume

4

fYear

2004

Firstpage

3449

Abstract

This paper presents a software architecture for the network-transparent control of distributed robotic systems. The system consists of two main components: a generic and easily extensible CORBA-based interface to distributed services, and a high-level XML-based description language for specifying the behavior of the robots. The architecture makes it possible to create dynamically modifiable, extensible control software with ease. It is successfully utilized in implementing a coffee serving system in which the co-operation of two very different robots and two other distributed services are needed.

Keywords

XML; control engineering computing; distributed object management; finite state machines; mobile robots; multi-robot systems; robot programming; software architecture; CORBA based interface; coffee serving system; control software architecture; distributed architecture; distributed robotic systems; distributed services; finite state machines; high level XML-based description language; multiple robots; network transparent control; Computer architecture; Control systems; Distributed control; Intelligent robots; Intelligent systems; Robot control; Robot sensing systems; Software architecture; Software design; Software tools;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308787

Filename

1308787