Service composition approaches of distributed resources

In many situations, any single service can not fulfill robot´s requirement which is complex to some extent, while their composition may be competent instead. So a general algorithm inspired from maze-solving problem is proposed on service composition for service robots, which takes the usable services of distributed resources as roads of maze and take the service composition scheme as a gateway between the entrance and the exit in the maze. This approach can automatically generate a composition plan, based on the functional relationships among different services and the requirement. Simulation experimental results demonstrate the validity of our approach.