A Case Study on Agriture: Distributed HLA-Based Architecture for Agricultural Robotics

  • Patricio Nebot
  • Joaquín Torres-Sospedra
  • Rafael Martínez
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 91)


In agricultural robotics, as in other robotic systems, one of the most important parts is the control architecture. This paper describes the definition of a new control architecture specially designed for groups of robots in charge of doing maintenance tasks in agricultural environments. This architecture has been developed having in mind principles as scalability, code reuse, abstraction hardware and data distribution. Moreover, it is important that the control architecture can allow coordination and cooperation among the different elements in the system. The architecture presented in this paper implements all these concepts by means of the integration of different systems, such as Player, JADE and HLA. The most important system is HLA because it not only allows the data distribution and implicit communication among the parts of the system, but also allows to operate with simulated and real entities at the same time, allowing the use of hybrid systems in the development of applications.


Mobile Robot Robotic System Multiagent System Control Architecture Real Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Patricio Nebot
    • 1
  • Joaquín Torres-Sospedra
    • 1
  • Rafael Martínez
    • 2
  1. 1.Departamento de Ingeniería y Ciencia de los ComputadoresUniversitat Jaume ICastellónSpain
  2. 2.Robotics InstituteUniversity of ValenciaValenciaSpain

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