COROS: A Multi-Agent Software Architecture for Cooperative and Autonomous Service Robots

  • Anis KoubâaEmail author
  • Mohamed-Foued Sriti
  • Hachemi Bennaceur
  • Adel Ammar
  • Yasir Javed
  • Maram Alajlan
  • Nada Al-Elaiwi
  • Mohamed Tounsi
  • Elhadi Shakshuki
Part of the Studies in Computational Intelligence book series (SCI, volume 604)


Building distributed applications for cooperative service robots systems is a very challenging task from software engineering perspective. Indeed, apart from the complexity of designing software components for the control of a single autonomous robot, cooperative multi-robot systems require additional care in the design of software components to ensure communication and coordination between the robotic agents. This chapter proposes COROS, a new multi-agent software architecture for cooperative and autonomous service robots with the objective to make easier the design and development of multi-robot applications. We present a high-level conceptual architecture for multi-agent robotics systems that represents a generic framework for cooperative multi-robot applications. Furthermore, we present an instantiation of this generic architecture with an implementation software architecture on top of the Robot Operating System (ROS) middleware. The proposed concrete software architecture follows a component-based approach to ensure modularity, software reuse, extensibility and scalability of the multi-robot operational software. In addition, one major added value of our architecture is that it provides a tangible solution to supporting multi-robot software development for the ROS middleware, as ROS was originally designed for single-robot applications. We also demonstrate a sample of real-world case studies of cooperative and autonomous service robots applications in an office-like environment, including discovery and courier delivery applications.


Autonomous service robots Cooperative robots Robotic software engineering Multi-agent systems Robot operating system (ROS) 



This work is supported by the iroboapp project “Design and Analysis of Intelligent Algorithms for Robotic Problems and Applications” under the grant of the National Plan for Sciences, Technology and Innovation (NPSTI), managed by the Science and Technology Unit of Al-Imam Mohamed bin Saud University and by King AbdulAziz Center for Science and Technology (KACST). This work is also supported by the myBot project entitled “MyBot: A Personal Assistant Robot Case Study for Elderly People Care” under the grant from King AbdulAziz City for Science and Technology (KACST). This work is partially supported by National Funds through FCT (Portuguese Foundation for Science and Technology) and by ERDF (European Regional Development Fund) through COMPETE (Operational Programme ‘Thematic Factors of Competitiveness’), within project FCOMP-01-0124-FEDER-037281 (CISTER); by Prince Sultan University.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Anis Koubâa
    • 1
    • 3
    • 4
    Email author
  • Mohamed-Foued Sriti
    • 2
  • Hachemi Bennaceur
    • 2
  • Adel Ammar
    • 2
  • Yasir Javed
    • 1
    • 3
  • Maram Alajlan
    • 2
    • 3
  • Nada Al-Elaiwi
    • 3
    • 6
  • Mohamed Tounsi
    • 1
  • Elhadi Shakshuki
    • 5
  1. 1.Prince Sultan UniversityRiyadhSaudi Arabia
  2. 2.College of Computer and Information SciencesAl Imam Mohammad Ibn Saud Islamic University (IMSIU)RiyadhKingdom of Saudi Arabia
  3. 3.COINS Research GroupRiyadhSaudi Arabia
  4. 4.CISTER/INESC-TEC, ISEPPolytechnic Institute of PortoPortoPortugal
  5. 5.Acadia UniversityWolfvilleCanada
  6. 6.King Abdulaziz City for Science and Technology (KACST)RiyadhSaudi Arabia

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