Flat-distributed network architecture (FDNet) for rescue robots - FDNet and its implementation

摘要

This paper deals with flat-distributed architecture for a rescue robot. This architecture provides the rescue robot with intelligence and flexibility. When this architecture is used, the robot system is described using networks. These networks are composed by data and processing agents. The data, referred to as "data", is a distributed component. The processing agents, referred to as "relation", are a distributed and parallel-processing component, which can refer to any existing data. We consider nodes that can formally connect to any other node, and relations that can be organized according to human's or any other network's pattern. This architecture was called "FDNet(Flat-Distributed Networks for Rescue System)". First, we describe the proposition of the architecture and its implementation for a robot. Then we report some experimental results. We provide this architecture for any intelligent rescue system.