The paper presents a formal approach to structuring multi-robot system controllers. It was used to structure the MRROC++ based controllers. The deduced structure is as such that on the one hand it is not too complex for implementation and on the other hand it does not limit the tasks that can be executed. Both coordinated and uncoordinated motions are taken into account. The use of diverse sensors is also considered. This approach enables the classification of motion generators and execution conditions giving further insight into the future performance of the designed system. The same approach can be used to elaborate different structures to the one used by MRROC++ based systems.
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