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An Architecture for Real-Time Control in Multi-robot Systems

  • Daniel Althoff
  • Omiros Kourakos
  • Martin Lawitzky
  • Alexander Mörtl
  • Matthias Rambow
  • Florian Rohrmüller
  • Dražen Brščić
  • Dirk Wollherr
  • Sandra Hirche
  • Martin Buss
Part of the Cognitive Systems Monographs book series (COSMOS, volume 6)

Abstract

This paper presents a novel robotic architecture that is suitable for modular distributed multi-robot systems. The architecture is based on an interface supporting real-time inter-process communication, which allows simple and highly efficient data exchange between the modules. It allows monitoring of the internal system state and easy logging, thus facilitating the module development. The extension to distributed systems is provided through a communication middleware, which enables fast and transparent exchange of data through the network, although without real-time guarantees. The advantages and disadvantages of the architecture are rated using an existing framework for evaluation of robot architectures.

Keywords

World Model IEEE Intelligent Vehicle Symposium Robot Architecture Robotic Architecture Distribute Sensor System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Daniel Althoff
    • 1
  • Omiros Kourakos
    • 1
  • Martin Lawitzky
    • 1
  • Alexander Mörtl
    • 1
  • Matthias Rambow
    • 1
  • Florian Rohrmüller
    • 1
  • Dražen Brščić
    • 1
  • Dirk Wollherr
    • 1
  • Sandra Hirche
    • 1
  • Martin Buss
    • 1
  1. 1.Institute of Automatic Control Engineering (LSR)Technische Universität MünchenMünchenGermany

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