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ALLIANCE-ROS:A Software Framework on ROS for Fault-Tolerant and cooperative Mobile robots

Chinese Journal of Electronics 2018年第3期27卷 467-475页

作者： GUO Zhongyuan YANG Wenjing LI Minglong YI Xiaodong CAI Zhongxuan WANG Yanzhen State Key Laboratory of High Performance Computing College of Computer National University of Defense Technology

Programming control systems for mobile robots is complicated and time-consuming, due to three aspects, i.e., the robot behavior coordination, the distributed multi-robot cooperation and the robot software reusability. Subsumption model is a robust control architecture for mobile robots. ALLIANCE model extends it to multirobot systems, which is a fully distributed, fault-tolerant model. Robot operating system(ROS) provides a lot of reusable robot modules. By combining the above three, we propose a software framework named ALLIANCE-ROS for developing fault-tolerant cooperative multi-robot systems with abundant software resources available. We encapsulate the ROS facilities to build the framework *** also use some high-performance plugin-based mechanism to optimize the bottom of the framework. One may use the framework-provided API conveniently to construct single-robot and multi-robot applications with all ROS resources available. This work is demonstrated by three application cases including an autonomous roving robot, a security patrol robot and multiple patrol robots. They are constructed and tested in both the simulated and the real environment. The experimental results validate the usability and availability of ALLIANCE-ROS.

关键词： Software framework Mobile robots cooperative robots Fault-tolerance ALLIANCE-ROS

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Time-Critical Tasks Implementation in MEC Based Multi-Robot Cooperation Systems

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China Communications 2022年第4期19卷 199-215页

作者： Rui Yin Yineng Shen Huawei Zhu Xianfu Chen Celimuge Wu School of Information and Electrical Engineering Zhejiang University City CollegeHangzhou 310015China School of Information and Electrical Engineering Zhejiang UniversityHangzhou 310027China The VTT Technical Research Centre of Finland Oulu90570Finland Graduate School of Informatics and Engineering the University of Electro-CommunicationsTokyo182-8585Japan

Mobile edge computing(MEC) deployment in a multi-robot cooperation(MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources need to be considered jointly to fully exploit the advantages brought by the MEC technology. In this paper, the scenario where multi robots cooperate to accomplish the time-critical tasks is studied, where an intelligent master robot(MR) acts as an edge server to provide services to multiple slave robots(SRs) and the SRs are responsible for the environment sensing and data collection. To save energy and prolong the function time of the system, two schemes are proposed to optimize the computation and communication resources, respectively. In the first scheme, the energy consumption of SRs is minimized and balanced while guaranteeing that the tasks are accomplished under a time constraint. In the second scheme, not only the energy consumption, but also the remaining energies of the SRs are considered to enhance the robustness of the system. Through the analysis and numerical simulations, we demonstrate that even though the first policy may guarantee the minimization on the total SRs’ energy consumption, the function time of MRC system by the second scheme is longer than that by the first one.

关键词： cooperative robots mobile edge computing energy consumption resource management

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