Multi-robot data mapping simulation by using microsoft robotics developer studio

Abstract This document summarizes the goals achieved in the development of a data mapping application, for a multi-robot system, implemented as a service with the guidelines found in the Service Oriented Computing paradigm (SOC). The obtained service generates both local and global maps in the reconstruction of a virtual scenario: the local maps represent the surrounding area around each one of the mobile robots, and the global one the totality of the scenario where the robots move. The information of the global map is continuously updated by merging the data coming from the local maps by using a novel approach: each one of the maps manages a confidence level value that defines which of the data coming from the maps is worthy of being updated into the global one. This technique is not present in related work. The Microsoft Robotics Developer Studio framework was chosen for its implementation because of the advantages that this tool offers in the management of concurrent and distributed processes, typically found in both a robotics platform and in a multi-robot system.

[1]  Gian Luca Mariottini,et al.  A survey and comparison of commercial and open-source robotic simulator software , 2011, PETRA '11.

[2]  László Neumann,et al.  Gradient Estimation in Volume Data using 4D Linear Regression , 2000, Comput. Graph. Forum.

[3]  Yinong Chen,et al.  Robot as a Service in Cloud Computing , 2010, 2010 Fifth IEEE International Symposium on Service Oriented System Engineering.

[4]  Kurt Geihs,et al.  Cooperative Path Planning for Multi-Robot Systems in Dynamic Domains , 2011 .

[5]  A. Cesetti,et al.  A Service Oriented Architecture supporting an autonomous mobile robot for industrial applications , 2010, 18th Mediterranean Conference on Control and Automation, MED'10.

[6]  Luiz Chaimowicz,et al.  Exploring Microsoft Robotics Studio as a Mechanism for Service-Oriented Robotics , 2010, 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting.

[7]  Odest Chadwicke Jenkins,et al.  Robots as web services: Reproducible experimentation and application development using rosjs , 2011, 2011 IEEE International Conference on Robotics and Automation.

[8]  Anis Koubaa.  A Service-Oriented Architecture for Virtualizing Robots in Robot-as-a-Service Clouds , 2014, ARCS.

[9]  Stefano Carpin,et al.  Fast and accurate map merging for multi-robot systems , 2008, Auton. Robots.

[10]  Sebastian Thrun,et al.  Robotic mapping: a survey , 2003 .

[11]  José María Cañas,et al.  Dynamic gridmaps: comparing building techniques , 2006 .

[12]  Qian Huang,et al.  An ontology-based collaborative service-oriented simulation framework with Microsoft Robotics Studio® , 2008, Simul. Model. Pract. Theory.

[13]  Kurt Konolige,et al.  Distributed Multirobot Exploration and Mapping , 2005, Proceedings of the IEEE.

[14]  Yinong Chen,et al.  On Robotics Applications in Service-Oriented Architecture , 2008, 2008 The 28th International Conference on Distributed Computing Systems Workshops.

[15]  Jared Jackson.  Microsoft robotics studio: A technical introduction , 2007, IEEE Robotics & Automation Magazine.

[16]  Anderson A. S. Souza,et al.  Provisional chapter 3 D Probabilistic Occupancy Grid to Robotic Mapping with Stereo Vision , 2012 .

[17]  Andreas Birk,et al.  Merging Occupancy Grid Maps From Multiple Robots , 2006, Proceedings of the IEEE.