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A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems
Matthias RAMBOW Florian ROHRMÜLLER Omiros KOURAKOS Draen BRŠVCI Dirk WOLLHERR Sandra HIRCHE Martin BUSS
IEICE TRANSACTIONS on Information and Systems
Publication Date: 2010/06/01
Online ISSN: 1745-1361
Print ISSN: 0916-8532
Type of Manuscript: INVITED PAPER (Special Section on Info-Plosion)
multi-robot system, robotic architecture, autonomous robots,
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Robotic systems operating in the real-world have to cope with unforeseen events by determining appropriate decisions based on noisy or partial knowledge. In this respect high functional robots are equipped with many sensors and actuators and run multiple processing modules in parallel. The resulting complexity is even further increased in case of cooperative multi-robot systems, since mechanisms for joint operation are needed. In this paper a complete and modular framework that handles this complexity in multi-robot systems is presented. It provides efficient exchange of generated data as well as a generic scheme for task execution and robot coordination.