A General-Purpose Application Platform for Multiple Heterogeneous Mobile Robots
نویسندگان
چکیده
A general-purpose application platform is presented for planning, control and monitoring of heterogeneous mobile multi-robot teams. The hybrid architecture with hierarchical layers is designed for multiple robots system (MRS) by combining the centralized task planning with the distributed motion control. It provides a solution to task reuse, team-oriented planning and hardware abstraction, which satisfies the cooperation of heterogeneous robots, especially for the robots with different sensors, operation systems and control softwares. Multi-robot formation experiments are also demonstrated to verify the effectiveness and practicality of the proposed application platform.
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