A P2P Sensor Framework for Collaborative Robots Manipulation

We propose an open hardware and software architecture for the cooperative coordination of multiple mobile robots operating in a common environment. It is designed to meet the stringent requirements of loosely coupled multi-robot architectures, such as flexibility, reliability, and fault-tolerance. As such, the proposed architecture enables the robots to deal with various types of uncertainties in their operating environments. The proposed architecture takes advantage of scalable sensory- based P2P framework. It also offers an inter-robot communication protocol, which is specifically designed to satisfy the requirements of physical sensory data publishing and fusion. The architecture is implemented and evaluated on a team of indoor mobile robots. The test results manifest the architecture's distinguished features and capabilities.