In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot’s underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.
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