Authors:
Antti Tikanmäki
and
Juha Röning
Affiliation:
Computer Engineering laboratory, University of Oulu, Finland
Keyword(s):
Distributed robots and systems, multi-robot systems, sensor networks, Property Service architecture.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Network Robotics
;
Robotics and Automation
Abstract:
This paper presents a general architecture for creating complex distributed software systems, called Property Service architecture. The system may contain resources like robots, sensors, and different kinds of system services, such as controller units, data storages, or a collective model of the environment. This architecture contains several solutions and distributed system design methods for developing advanced and complex systems. It also provides the possibility to add new resources to the system easily and during operation. Each service has a very simple generalized interface. This meets the requirements of distributed robotic applications, such as remote operation, multi-robot cooperation, and the robot's internal operation. The simplicity of the interface also provides a possibility to scale down the service even on the low-cost, low-performance microcontrollers used in small-sized robots. The main features of the architecture are the dynamic properties of the resources, autom
atic reconfiguration, and the high level of reusability of the implemented methods and algorithms.
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