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   Vol.E93-D   No.6   pp.1352-1360
Publication Date: 2010/06/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.E93.D.1352
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.