Theory and Application of Multi-robot Service-oriented Architecture

作     者：Yunfei Cai Zhenmin Tang Yuhua Ding Bin Qian 

作者机构：Institute of Intelligent Robots Nanjing University of Science and Technology 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2016年第3卷第1期

页      面：15-25页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by National Natural Science Foundation of China(61305134) Specialized Research Fund for the Doctoral Program of Higher Education(20133219120035) 

主　　题：Multi-robot cooperation architecture serviceoriented 

摘      要：In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot s underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.