IRGS protocol based mobile service robot positioning and multi-robot collaboration for smart home

The collaboration between mobile service robots and household appliances in smart home is proposed based on IGRS protocol. By defining a series of protocol standards, Intelligent Grouping and Resource Sharing (IGRS) protocol supports auto-discovery, dynamic networking, resources sharing and collaborative service among multiple intelligent information devices. Two dimensional and three-dimensional positioning approaches are designed for mobile robots to implement assigned tasks in specific work paths. Zigbee modules and IGRS protocol are used to realize robots´ location awareness, thereby achieving the collaboration among different intelligent devices. Multi-robot collaborative strategies are proposed. During the process of collaboration, grouping strategy can enhance the efficiency of resource usage and promote the accomplishment of tasks and it consists of 5 steps. Delegation is an important strategy of coordinated control. For each robot, the delegation should be implemented on the basis of robots´ capability list.