Network-based subsumption architecture for broadcast control of multiple mobile robots based on a poor hardware/software platform

Fusaomi Nagata, Akimasa Otsuka, Keigo Watanabe, Maki K. Habib

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In this paper, a wireless network-based subsumption architecture is proposed for a broadcast control of multiple mobile robots and for reduction of the total design cost required for constructing the system. When designing an actual experimental system using multiple mobile robots, there exits a serious requirement to suppress the total design cost with the increase of the number of robots. Even though each robot has an only poor hardware platform with a limitation of software development, the proposed wireless network-based subsumption architecture enables them to be broadcastly controlled and to be hierarchically implemented a high-level software architecture such as a schooling behavior. Also, this system enables the multiple mobile robots to be omitted the complicated download process of hex code program in debugging work because the debugging is conducted only on a supervisory server, so that the high maintainability can be performed. The multi-robots monitor running on the supervisory server and the agent dispatcher determining to which agent the highest priority of execution should be given, are further described.

Original languageEnglish
Pages (from-to)1-17
Number of pages17
JournalAdvances in Intelligent Systems and Computing
Volume269
DOIs
Publication statusPublished - 2014

Fingerprint

Mobile robots
Computer hardware
Robots
Wireless networks
Servers
Maintainability
Software architecture
Costs
Software engineering

Keywords

  • Agent dispatcher
  • Broadcast control
  • Flex sensor
  • Multi-robots monitor
  • Multiple mobile robots
  • Network-based subsumption architecture
  • PSD sensor
  • Server supervisory control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Network-based subsumption architecture for broadcast control of multiple mobile robots based on a poor hardware/software platform. / Nagata, Fusaomi; Otsuka, Akimasa; Watanabe, Keigo; Habib, Maki K.

In: Advances in Intelligent Systems and Computing, Vol. 269, 2014, p. 1-17.

Research output: Contribution to journalArticle

@article{a1063e833ca046aa9afc4b258c301995,
title = "Network-based subsumption architecture for broadcast control of multiple mobile robots based on a poor hardware/software platform",
abstract = "In this paper, a wireless network-based subsumption architecture is proposed for a broadcast control of multiple mobile robots and for reduction of the total design cost required for constructing the system. When designing an actual experimental system using multiple mobile robots, there exits a serious requirement to suppress the total design cost with the increase of the number of robots. Even though each robot has an only poor hardware platform with a limitation of software development, the proposed wireless network-based subsumption architecture enables them to be broadcastly controlled and to be hierarchically implemented a high-level software architecture such as a schooling behavior. Also, this system enables the multiple mobile robots to be omitted the complicated download process of hex code program in debugging work because the debugging is conducted only on a supervisory server, so that the high maintainability can be performed. The multi-robots monitor running on the supervisory server and the agent dispatcher determining to which agent the highest priority of execution should be given, are further described.",
keywords = "Agent dispatcher, Broadcast control, Flex sensor, Multi-robots monitor, Multiple mobile robots, Network-based subsumption architecture, PSD sensor, Server supervisory control",
author = "Fusaomi Nagata and Akimasa Otsuka and Keigo Watanabe and Habib, {Maki K.}",
year = "2014",
doi = "10.1007/978-3-319-05573-2_1",
language = "English",
volume = "269",
pages = "1--17",
journal = "Advances in Intelligent Systems and Computing",
issn = "2194-5357",
publisher = "Springer Verlag",

}

TY - JOUR

T1 - Network-based subsumption architecture for broadcast control of multiple mobile robots based on a poor hardware/software platform

AU - Nagata, Fusaomi

AU - Otsuka, Akimasa

AU - Watanabe, Keigo

AU - Habib, Maki K.

PY - 2014

Y1 - 2014

N2 - In this paper, a wireless network-based subsumption architecture is proposed for a broadcast control of multiple mobile robots and for reduction of the total design cost required for constructing the system. When designing an actual experimental system using multiple mobile robots, there exits a serious requirement to suppress the total design cost with the increase of the number of robots. Even though each robot has an only poor hardware platform with a limitation of software development, the proposed wireless network-based subsumption architecture enables them to be broadcastly controlled and to be hierarchically implemented a high-level software architecture such as a schooling behavior. Also, this system enables the multiple mobile robots to be omitted the complicated download process of hex code program in debugging work because the debugging is conducted only on a supervisory server, so that the high maintainability can be performed. The multi-robots monitor running on the supervisory server and the agent dispatcher determining to which agent the highest priority of execution should be given, are further described.

AB - In this paper, a wireless network-based subsumption architecture is proposed for a broadcast control of multiple mobile robots and for reduction of the total design cost required for constructing the system. When designing an actual experimental system using multiple mobile robots, there exits a serious requirement to suppress the total design cost with the increase of the number of robots. Even though each robot has an only poor hardware platform with a limitation of software development, the proposed wireless network-based subsumption architecture enables them to be broadcastly controlled and to be hierarchically implemented a high-level software architecture such as a schooling behavior. Also, this system enables the multiple mobile robots to be omitted the complicated download process of hex code program in debugging work because the debugging is conducted only on a supervisory server, so that the high maintainability can be performed. The multi-robots monitor running on the supervisory server and the agent dispatcher determining to which agent the highest priority of execution should be given, are further described.

KW - Agent dispatcher

KW - Broadcast control

KW - Flex sensor

KW - Multi-robots monitor

KW - Multiple mobile robots

KW - Network-based subsumption architecture

KW - PSD sensor

KW - Server supervisory control

UR - http://www.scopus.com/inward/record.url?scp=84927650912&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84927650912&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-05573-2_1

DO - 10.1007/978-3-319-05573-2_1

M3 - Article

AN - SCOPUS:84927650912

VL - 269

SP - 1

EP - 17

JO - Advances in Intelligent Systems and Computing

JF - Advances in Intelligent Systems and Computing

SN - 2194-5357

ER -