Abstract
Programming multi-robot systems is a complicated and time-consuming work, due to two challenges, i.e., the distributed multi-robot cooperation and the robot software reusability. ALLIANCE [1] is a fully distributed, fault-tolerant and behavior-based model. ROS (Robot Operating System) provides abundant robot software modules. In this paper, by combining both, we propose a software architecture named ALLIANCE-ROS for developing fault-tolerant cooperative multi-robot systems with a lot of software resources available. We encapsulate the ROS mechanisms and Python libraries to construct the basic function units of the ALLIANCE model. One may inherit them to construct the ALLIANCE-model-application with all ROS algorithms, modules and resources available. This work is demonstrated by an experiment of multi-robot patrol in both the simulated and the real environments.
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Acknowledgments
This work is supported by Research on Foundations of Major Applications, Research Programs of NUDT under Grant No. ZDYYJCYJ20140601 and the National Science Foundation of China under Grant No. 61221491, 61303185 and 61303068.
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Li, M. et al. (2016). ALLIANCE-ROS: A Software Architecture on ROS for Fault-Tolerant Cooperative Multi-robot Systems. In: Booth, R., Zhang, ML. (eds) PRICAI 2016: Trends in Artificial Intelligence. PRICAI 2016. Lecture Notes in Computer Science(), vol 9810. Springer, Cham. https://doi.org/10.1007/978-3-319-42911-3_19
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DOI: https://doi.org/10.1007/978-3-319-42911-3_19
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