International Journal of Social Robotics

, Volume 1, Issue 1, pp 19–28 | Cite as

Multi-Layer Architecture of Ubiquitous Robot System for Integrated Services

  • Jong-Hwan Kim
  • In-Bae Jeong
  • In-Won Park
  • Kang-Hee Lee
Original Paper


Ubiquitous robot consists of various software and hardware platforms with various functions with different interfaces. In practical sense, it is impossible for software agents to hold all information related to other sensors or mobile robots. This makes it difficult to develop software agents and, at the same time, implement both modularity and scalability for the entire system. This paper proposes a novel multi-layer architecture to address the problems of interoperability between different hardware and software platforms in an ubiquitous environment offering services to the user regardless of space or time constraints. The proposed architecture is composed of five layers, which are classified according to device and environment independency, for modularity, scalability and interoperability between different hardware and software platforms. To show the general feasibility of the proposed architecture, this paper presents case studies in a simplified environment by computer simulation and experiments.


Ubiquitous robot (Ubibot) Software robot (Sobot) Embedded robot (Embot) Mobile robot (Mobot) Middleware Multi-layer architecture of ubiquitous robot 


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Copyright information

© Springer 2008

Authors and Affiliations

  • Jong-Hwan Kim
    • 1
  • In-Bae Jeong
    • 1
  • In-Won Park
    • 1
  • Kang-Hee Lee
    • 2
  1. 1.Robot Intelligence Technology Lab, Department of Electrical Engineering and Computer ScienceKAISTDaejeonRepublic of Korea
  2. 2.Fundamental Technology Team, Mechatronics & Manufacturing Technology Center, Corporate Technology OperationsSamsung Electronics Co., Ltd.Suwon-CityRepublic of Korea

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