MicROS: a morphable, intelligent and collective robot operating system.

Xuejun Yang,Xuefeng Peng,Shaowu Yang,Huadong Dai,Zhiyuan Wang,Xiaodong Yi,Yun Zhou,Yanzhen Wang,Bo Zhang

doi:10.1186/s40638-016-0054-y

Xuejun Yang, Xuefeng Peng + Show 7 more

Open Access

https://doi.org/10.1186/s40638-016-0054-y

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Abstract

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe–orient–decide–act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

Highlights

The third industrial revolution is under its way [1]
Results and discussion micROS is an open-source project based on the Robot Operating System (ROS) project [35]
It focuses on morphable resource management and autonomous behavior management, and provides support for collective intelligence

Summary

Introduction

As one of the most remarkable novel products in this revolution, will repeat the history of the rising of personal computers and enter every home in a near future [2]. It is able to effectively solve the major problems of low modularity and standardization level faced by current robotic technology, in order to simplify software design, improve software quality, promote the integration of new technologies and reduce production costs. Before the concept of robot operating system was introduced, system software with the same functionalities was referred to as robotics middleware, robot software framework, or robotics development environment. They gained more and more attentions and research efforts since late 1990s, with typical initiatives gradually emerging, such

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Conclusion