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 language | English |
|---|---|
| Pages (from-to) | 1-17 |
| Number of pages | 17 |
| Journal | Advances in Intelligent Systems and Computing |
| Volume | 269 |
| DOIs | |
| Publication status | Published - 2014 |
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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 journal › Article
}
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
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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 -