Service-Oriented Multirobot System Architecture

摘要

An information technology based on the paradigmrnof SOA (Service Oriented Architecture) as an approach to thernproblem of interoperability in an open and heterogeneousrnmultirobot system is presented. It consists of the concept of objectrnmaps (as a common universal environment representation forrnhumans and devices), description language for task and servicerninterface definition, and communication protocols definingrninteraction patterns between different types of the components ofrnthe system. A device, from the point of view of the system, is seenrnas a collection of its capabilities exposed as services. Services arerndiscovered, arranged and called through their interfacesrn(descriptions of their capabilities). The interfaces are defined inrnthe common language which makes them entirely independentrnfrom the programming languages, and software and hardwarernplatforms of the devices.