New Layered SOA-Based Architecture for Multi-robots Cooperative Online SLAM

A new layered multi-robots architecture for cooperative online simultaneous localization and map- ping based on Service-oriented architecture (SOA) is pro- posed. This architecture is constructed by the concepts of service-oriented and loosely coupled center scheduling. These methods make robots' underlying function realiza- tion be transparent in cooperation and avoid the impact affected by robot heterogeneous characteristics, which will be beneficial to the system construction, expansion, re- structuring and maintenance. All data packages follow the SOA unified data format, which can avoid the impact af- fected by sensor heterogeneous characteristics. The point to point serving model reduces the path of data transmis- sion which can improve the timeliness of the system. All of these features can satisfy the requirements of multi-robots cooperative online SLAM. The simulation results show the feasibility, applicability and practicability of this architec- ture.

[1]  Hongqi Li,et al.  Research on Distributed Architecture Based on SOA , 2009, 2009 International Conference on Communication Software and Networks.

[2]  Sebastian Thrun,et al.  Probabilistic robotics , 2002, CACM.

[3]  E. Gonzalez,et al.  MRCC: A Multi-Resolution Cooperative Control Agent Architecture , 2007, 2007 IEEE/WIC/ACM International Conference on Intelligent Agent Technology (IAT'07).

[4]  Paul S. Schenker,et al.  CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[5]  Zhao Chunxia,et al.  An Improved Algorithm of Multi-Robots Cooperative Online FastSLAM , 2012 .

[6]  Stefan B. Williams,et al.  Towards multi-vehicle simultaneous localisation and mapping , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  F. Pereira,et al.  Simultaneous Control, Navigation and Target Tracking for Robotic Formations , 2006, 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[8]  Wolfram Burgard,et al.  Collaborative multi-robot exploration , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[9]  Yuan Kui,et al.  Multiple Mobile Robot Systems:A Survey of Recent Work , 2007 .

[10]  Kian Hsiang Low,et al.  Reactive, distributed layered architecture for resource-bounded multi-robot cooperation: application to mobile sensor network coverage , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[11]  Jukka Riekki,et al.  A distributed architecture for executing complex tasks with multiple robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

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