Communication architecture based on Player/Stage and sockets for cooperative guidance of robotic units

Author

Espinosa, Felipe ; Salazar, Marcelo ; Valdes, Fernando ; Bocos, Antonio

Author_Institution

Electron. Dept., Univ. of Alcala, Madrid

fYear

2008

fDate

25-27 June 2008

Firstpage

1423

Lastpage

1428

Abstract

This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device, of the network control system.

Keywords

client-server systems; distributed control; local area networks; mobile robots; path planning; periodic control; telerobotics; Ethernet-converter device; client-server system; cooperative guidance; external communication architecture; internal communication architecture; network control system; periodical control tasks; player-stage system; remote control; robotic units; Communication system control; Control systems; Hardware; Mobile communication; Proposals; Robot kinematics; Robot sensing systems; Robotics and automation; Sockets; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2008 16th Mediterranean Conference on

Conference_Location

Ajaccio

Print_ISBN

978-1-4244-2504-4

Electronic_ISBN

978-1-4244-2505-1

Type

conf

DOI

10.1109/MED.2008.4601987

Filename

4601987