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Architecture of an Autonomous Robot at the IT Level

Ambroszkiewicz S., Bartyna W., Skarżyński K., Stępniak M., Szymczakowski M.

Journal of Automation Mobile Robotics and Intelligent Systems

2015

Vol. 9, No. 1

34--40

The paper proposes an architecture for a control system of an autonomous robot as well as an architecture for a multi-robot system in which the robots cooperate in order to accomplish client’s tasks. The solution is based on the SOA paradigm and an ontology as a way of represen ting an environment, and is specified at the Informa- tion Technology level. This approach is focused on intui tive cooperation with a human and automation of a task execution, as well as automation of handling exceptions and changes in the environment. For the purpose of the test scenarios, a sample ontology was created, which allows the human user to define tasks to be performed by a robot. Additionally, a simulation environment was designed and implemented in Unity. It allows for automatic generation of the visual representation of information defined in the ontology, and for testing the effectiveness of the proposed architecture in different types of scenarios with variable sets of services (devices).

Multirobot system architecture: environment representation and protocols

Ambroszkiewicz S., Bartyna W., Fadarewski M., Terlikowski G.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2010

Vol. 58, nr 1

3-13

An approach to the problem of interoperability in open and heterogeneous multirobot system is presented. It is based on the paradigm of Service Oriented Architecture (SOA) and a generic representation of the environment. A robot, and generally a cognitive and intelligent device, is seen as a collection of its capabilities exposed as services. Several experimental protocols (for publishing, discovering, arranging, and executing the composite services) are proposed in order to assure the interoperability in the system. The environment representation, the description language for tasks and service interfaces definition, as well as the protocols constitute together the proposed information technology for automatic task accomplishment in an open heterogeneous multirobot system.