Architectural design of an Autonomous Decentralized System for controlling heterogeneous function multi-robots

This paper presents the architectural design of an Autonomous Decentralized System (ADS) for controlling heterogeneous function multi-robots which are belong to Wheeled Mobile Robots (WMRs). The heterogeneous function multi-robots are fully automated vehicles that are able to transport goods within varies functions in a complex environment. To cope with new and future system requirements such as flexibility and openness, we have applied a distributed planning system for developing decentralized control architecture for multi-robots system. In this paper, we give an overview of the software architecture of ADS and we zoom in on two specific concern: Self-generated action sequence and function complement. We discuss the evaluation of the software architecture and test results obtained from realistic simulations and an experiment system that we have developed.