A taxonomy of distribution for cooperative mobile manipulators

Simple robot applications can be run on a single computer, but when it comes to more complex applications or multiple mobile robots, software distribution becomes important. When structuring mobile robot systems and applications, distribution has to be considered on various levels. This paper proposes to distinguish between real-time level, system level, application level and regarding the world model. Advantages and disadvantages of distribution on each level are analyzed, and examples are given how this distribution is realized in the robotics frameworks OROCOS, ROS and the Robotics API. The results are demonstrated using a case study of two cooperating youBots handing over a work-piece while in motion, which is shown in simulation as well as in real life.