Abstract
In this paper, a wireless network-based subsumption architecture is proposed for a broadcast control of multiple mobile robots and for reduction of the total design cost required for constructing the system. When designing an actual experimental system using multiple mobile robots, there exits a serious requirement to suppress the total design cost with the increase of the number of robots. Even though each robot has an only poor hardware platform with a limitation of software development, the proposed wireless network-based subsumption architecture enables them to be broadcastly controlled and to be hierarchically implemented a high-level software architecture such as a schooling behavior. Also, this system enables the multiple mobile robots to be omitted the complicated download process of hex code program in debugging work because the debugging is conducted only on a supervisory server, so that the high maintainability can be performed. The multi-robots monitor running on the supervisory server and the agent dispatcher determining to which agent the highest priority of execution should be given, are further described.
Keywords
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Parsons, D., Canny, J.: A motion planner for multiple mobile robots. In: Procs. of IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA, pp. 8–13 (May 1990)
Barman, A.R., Kingdon, S.J., Little, J.J., Mackworth, A.K., Pai, D.K., Sahota, M.K., Wilkinson, H., Zhang, Y.: DYNAMO: Real-time experiments with multiple mobile robots. In: Intelligent Vehicles Symposium, Tokyo, Japan, pp. 261–266 (July 1993)
Kube, C.R., Zhang, H.: Collective robotic intelligence. In: Procs. of the Second International Workshop on Simulation of Adaptive Behavior, pp. 460–468 (1992)
Kube, C.R., Zhang, H.: Collective robotics: From social insects to robots. Adaptive Behavior 2(2), 189–219 (1993)
Noreils, F.R.: An architecture for cooperative and autonomous mobile robots. In: Procs. of IEEE International Conference on Robotics and Automation, Nice, France, pp. 2703–2710 (May 1992)
Azarm, K., Schmidt, G.: Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation. In: Procs. of IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, pp. 3526–3533 (April 1997)
Bennewitz, M., Burgard, W.: A probabilistic method for planning collision-free trajectories of multiple mobile robots. In: The Workshop Service Robotics - Applications and Safety Issues in an Emerging Market at the 14th European Conference on Artificial Intelligence, Berlin, Germany, 7 pages (August 2000)
Guo, Y., Parker, L.E.: A distributed and optimal motion planning approach for multiple mobile robots. In: IEEE International Conference on Robotics and Automation, Washington, DC, USA, pp. 2612–2619 (2002)
Parker, L.E.: The effect of heterogeneity in teams of 100+ mobile robots. In: Multi-Robot Systems, From Swarms to Intelligent Automata, vol. II, pp. 205–215. Kluwer Academic Publishers (2003)
Pimentel, B., Campos, M.: Cooperative communication in ad hoc networked mobile robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NE, pp. 2876–2881 (October 2003)
Antonelli, G., Arrichiello, F., Chakraborti, S., Chiaverini, S.: Experiences of formation control of multi-robot systems with the null-space-based behavioral control. In: IEEE International Conference on Robotics and Automation, Roma, pp. 1068–1073 (April 2007)
Antonelli, G., Arrichiello, F., Chiaverini, S.: Experiments of formation control with multirobot systems using the null-space-based behavioral control. IEEE Transactions on Control Systems Technology 17(5), 1173–1182 (2009)
Mondada, F., Bonani, M., Raemy, X., Pugh, J., Cianci, C., Klaptocz, A., Magnenat, S., Zufferey, J.C., Floreano, D., Martinoli, A.: The e-puck, a robot designed for education in engineering. In: 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, pp. 59–65 (May 2009)
Zhan, J.W., Cheng, W.Z., Chang, N.W.: Network-based multimodal human-robot interactions in ubiquitous computing environment. In: IEEE International Conference on Robotics and Biomimetics, pp. 131–136 (2009)
Han, X., Payandeh, S.: Experimental design and analysis in kinematic-based localization in wireless mobile platform network. In: 2012 IEEE International Systems Conference on Communication, Networking & Broadcasting; Components, Circuits, Devices & Systems; Computing & Processing (Hardware/Software), pp. 1–6 (2012)
Brooks, R.A.: A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation 2(1), 14–23 (1986)
Nagata, F., Yamashiro, T., Watanabe, K.: Cooperative swarm control for multiple mobile robots using only information from PSD sensors. Artificial Life and Robotics 16(1), 116–120 (2011)
Tosadenshi Ltd., http://www.robot.tosadenshi.co.jp/
Asakusagiken Co., Ltd., http://www.robotsfx.com/main/list_controller.htm
Nagata, F., Otsuka, A., Watanabe, K.: Network-based subsumption architecture for multiple mobile robots system. In: Proceedings of the 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp. 187–192 (2012)
Watanabe, K., Shiraishi, Y., Tzafestas, S.G., Tang, J., Fukuda, T.: Feedback control of an omni-directional autonomous platform for mobile service robots. Journal of Intelligent & Robotic Systems 22(3/4), 315–330 (1998)
Nagata, F., Otsuka, A., Watanabe, K., Habib, M.K.: Multiple mobile robots system with network-based subsumption architecture. International Journal of Mechatronics and Manufacturing Systems 6(1), 57–71 (2013)
Otsuka, A., Nagata, F., Okino, T.: Measurement of dynamic sampling period of multi mobile robots system with wireless communication. In: Proceedings of 2013 IEEE International Conference on Mechatronics and Automation (ICMA 2013), pp. 1141–1146 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Nagata, F., Otsuka, A., Watanabe, K., Habib, M.K. (2014). Network-Based Subsumption Architecture for Broadcast Control of Multiple Mobile Robots Based on a Poor Hardware/Software Platform. In: Kim, YT., Kobayashi, I., Kim, E. (eds) Soft Computing in Advanced Robotics. Advances in Intelligent Systems and Computing, vol 269. Springer, Cham. https://doi.org/10.1007/978-3-319-05573-2_1
Download citation
DOI: https://doi.org/10.1007/978-3-319-05573-2_1
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05572-5
Online ISBN: 978-3-319-05573-2
eBook Packages: EngineeringEngineering (R0)