The paper research object is software and communication infrastructure destined to support interactions among mobile robots operating jointly in common autonomous mission as well as to support their interactions with cloud resources and services. The methodological basis of this research is theory of multi-agent systems, autonomous agent collective behavior and p2p open wireless computer networks of dynamic topologies. The paper presents model and multi-layer architecture of the target infrastructure composed of (1) physical agent layer, (2) behavior layer of local robot agents, (3) communication (message transport) layer, (4) infrastructure service layer and (5) collective behavior coordination and control layer. In the paper, the detailed description of the functionalities of each architecture layer is presented and software implementation issues of these functionalities are analyzed.
The research is carried out with support and in the intrests of Russian Academy of Science (RAS) Presidium Program I.5 (project no.214) , and St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS) state-financed project no.0073-2015-0003. Some results of this work were obtained within the frame of Russian Foundation for Basic Research (RFBR) project 14-07-00493.
Robot collective behavior, cloud robotics, autonomous agents, actors, software and communication infrastructure, peer-to-peer interaction.
Year 2017 Issue number 1 Consecutive issue number 14 Pages 33-44
UDC identifier: 681.3:62-50:007.52