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Volume 3 Issue 1
Jan.  2016

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2016  >  3(1): 15-25
Yunfei Cai, Zhenmin Tang, Yuhua Ding and Bin Qian, "Theory and Application of Multi-robot Service-oriented Architecture," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 15-25, 2016.
Citation: Yunfei Cai, Zhenmin Tang, Yuhua Ding and Bin Qian, "Theory and Application of Multi-robot Service-oriented Architecture," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 15-25, 2016.
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Theory and Application of Multi-robot Service-oriented Architecture

  • Institute of Intelligent Robots, Nanjing University of Science and Technology, Nanjing 210094, China

Funds:

This work was supported by National Natural Science Foundation of China (61305134) and Specialized Research Fund for the Doctoral Program of Higher Education (20133219120035).

    Abstract
  • In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot's underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.

     

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