SO-MRS: a multi-robot system architecture based on the SOA paradigm and ontology [article]

Kamil Skarzynski, Marcin Stepniak, Waldemar Bartyna, Stanislaw Ambroszkiewicz
2017 arXiv   pre-print
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
more » ... 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. A software platform built on a multi-robot system (according to the proposed architecture) is a multi-agent system.
arXiv:1709.03300v2 fatcat:bccurzvq6ffvjhp3o2ncfammpq