Abstract
Multi-robot systems are often static and pre-configured during the design time of their software. Emerging cooperation between unknown robots is still rare and limited. Such cooperation might be basic like sharing sensor data or complex like conjoined motion planning and acting. Robots should be able to detect other robots and their abilities during runtime. When cooperation seems to be possible and beneficial, it should be initiated autonomously. A centralized cloud control shall be avoided. Using software patterns belonging to service-oriented architectures, the robots are able to discover other robots and their abilities during runtime. These abilities are implemented as services and described by their interfaces. Composition of services can be done easily and flexibly. The software patterns originally belonging to cloud computing could be successfully adopted to decentralized multi-robot systems. The developed concept allows autonomous systems to cooperate flexibly and to compose multi-robot systems during runtime.
Highlights
IntroductionDuring design time of the systems, the emerging multi-robot systems will not always be predictable
Mobile multi-robot systems will be more and more popular in the future
It is interesting to take a look at the automotive domain, as usage of service-oriented architectures for distributed systems is very common within and road traffic is an environment with a lot of building up and dissolving systems of systems
Summary
During design time of the systems, the emerging multi-robot systems will not always be predictable. A platoon enables better usage of available space, less wind resistance or time-efficient simultaneous start up at green traffic lights. Such a system consisting of autonomous systems building up spontaneously is called a System of Systems (SoS) [2,3]. The member systems have to be designed to be able to interact with unknown systems. This leads to higher demands on each systems’ software stack. We introduce the application of modern concepts and patterns belonging to the category of service-oriented architectures in order to design systems of systems
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