Architecture of network robot control server software written in a Rule-based language

If robots of different models are to provide the same networked robot service, it is desirable that they are able to use the same service programs. In this paper, we propose the architecture of networked robot control server software that allows the same service programs to be used by different robot models. Specifically, we define robot-model-independent common signals, and propose a robot control algorithm that focuses on "has-a" relations in robot control functions. We have developed a networked robot control server that implements the proposed architecture and algorithm and uses STAR (SofΓware Architecture using Rule-based language). To evaluate the proposed algorithm, we have developed an experimental system that provides a "Garbage Collection Service," and uses two robot models: AIBO and AmigoBot.