A distributed architecture for executing complex tasks with multiple robots

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 th...

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Bibliographic Details
Main Authors: Maenpaa, T., Tikanmaki, A., Riekki, J., Roning, J.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer architecture
Computer science
control theory
systems
Control systems
Control theory. Systems
Distributed control
Exact sciences and technology
Intelligent robots
Intelligent systems
Robot control
Robot sensing systems
Robotics
Software architecture
Software design
Software tools
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Description
Summary: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.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1308787