Framework and service allocation for network robot platform and execution of interdependent services

摘要

This research introduces a framework for network robot platform (NWR-PF) and a service allocation method for heterogeneous distributed robots; they cooperate to perform services that include interdependent tasks. The proposed framework is composed of three layers: connection units, the area management gateway, and the robot-user interaction database. The area management gateway and robot-user interaction database treat the information of the users, robots, services, and service history in a uniform manner, because the connection units hide the differences, such as format and protocol, among the heterogeneous robots. The 4W1H matching method is also proposed for service allocation. The method selects the most suitable robots by comparing the elements of user, robot, and service information. Moreover, it generates robot commands in a common format, by combining the service scenario, and service history. A feature of the method is that both robotic functions to execute service and functions that robots possess are described as independent parameters. After the service trigger is received, both the robot and scenario needed to execute the service are decided by matching these parameters. Experiments show that robots controlled by NWR-PF can perform interdependent services by referring to the service history.