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Modular software architecture for teams of cooperating, heterogeneous robots

Friedmann, Martin and Kiener, Jutta and Petters, Sebastian and Thomas, Dirk and Stryk, Oskar von (2006):
Modular software architecture for teams of cooperating, heterogeneous robots.
Kunming, China, In: Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kunming, China, [Conference or Workshop Item]

Abstract

For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor data processing, planning and motion control have been developed. The software architecture allows high level communication between modules on different abstraction levels of the control architecture within one robot system as well as communication between different and heterogeneous robots and computers using wireless network. Very different behavior control paradigms may be realized on the basis of the developed architecture. The application to teams of cooperating small and medium size humanoid robots is investigated in this paper. Scenarios for inter robot communication and cooperative task accomplishment are described.

Item Type: Conference or Workshop Item
Erschienen: 2006
Creators: Friedmann, Martin and Kiener, Jutta and Petters, Sebastian and Thomas, Dirk and Stryk, Oskar von
Title: Modular software architecture for teams of cooperating, heterogeneous robots
Language: English
Abstract:

For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor data processing, planning and motion control have been developed. The software architecture allows high level communication between modules on different abstraction levels of the control architecture within one robot system as well as communication between different and heterogeneous robots and computers using wireless network. Very different behavior control paradigms may be realized on the basis of the developed architecture. The application to teams of cooperating small and medium size humanoid robots is investigated in this paper. Scenarios for inter robot communication and cooperative task accomplishment are described.

Place of Publication: Kunming, China
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO)
Event Location: Kunming, China
Date Deposited: 09 Jul 2019 09:56
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