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

Author

Zeyang Liu ; Sekiyama, Kosuke ; Fukuda, Toshio

Author_Institution

Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan

fYear

2013

fDate

10-13 Nov. 2013

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

control engineering computing; decentralised control; mobile robots; multi-robot systems; planning (artificial intelligence); software architecture; ADS; WMR; architectural design; autonomous decentralized system; complex environment; decentralized control architecture; distributed planning system; fully automated vehicles; function complement; heterogeneous function multirobot control; self-generated action sequence; software architecture; wheeled mobile robots; Collision avoidance; Computer architecture; Planning; Robot kinematics; Software; Software architecture;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro-NanoMechatronics and Human Science (MHS), 2013 International Symposium on

Conference_Location

Nagoya

Print_ISBN

978-1-4799-1527-9

Type

conf

DOI

10.1109/MHS.2013.6710463

Filename

6710463