JaMOS - A MDL2ε based Operating System for Swarm Micro Robotics

Micro robots in large scale swarms often have a very restricted program memory which limits the robot´s application range. We present a finite state machine operating system for swarm micro robots, that can overcome such problems and gives the designer of swarm algorithms a tool that is easy to handle. The operating system´s flow control or rather the robot´s control program is represented in the Motion Description Language Two Extended (MDL2epsiv). MDL2epsiv is based on MDLepsiv but has been extended to a fully functional behaviour description language as shown in this paper. The MDL2epsiv based control programs are encoded in a byte code that is interpreted on a micro controller. The byte-code concept significantly reduces the size of the control program which will be shown in this paper.