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2018 | OriginalPaper | Chapter

SO-MRS: A Multi-robot System Architecture Based on the SOA Paradigm and Ontology

Authors : Kamil Skarzynski, Marcin Stepniak, Waldemar Bartyna, Stanislaw Ambroszkiewicz

Published in: Towards Autonomous Robotic Systems

Publisher: Springer International Publishing

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Abstract

A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic functionality. The architecture is based on the paradigm of Service Oriented Architecture (SOA), and a generic representation (ontology) of the environment. A device (e.g. robot) is seen as a collection of its capabilities exposed as services. Generic protocols for publishing, discovering, arranging services are proposed for creating composite services that can accomplish complex tasks in an automatic way. Also generic protocols for execution of composite services are proposed along with simple protocols for monitoring the executions, and for recovery from failures. The proposed architecture and generic protocols were implemented as a software platform, and tested for several multi-robot systems.

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Title: SO-MRS: A Multi-robot System Architecture Based on the SOA Paradigm and Ontology
Authors: Kamil Skarzynski
Marcin Stepniak
Waldemar Bartyna
Stanislaw Ambroszkiewicz
Publisher: Springer International Publishing
Book: Towards Autonomous Robotic Systems
Print ISBN: 978-3-319-96727-1

Electronic ISBN: 978-3-319-96728-8

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-96728-8_28

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