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Network-Based Subsumption Architecture for Broadcast Control of Multiple Mobile Robots Based on a Poor Hardware/Software Platform

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Soft Computing in Advanced Robotics

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 269))

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Abstract

In this paper, a wireless network-based subsumption architecture is proposed for a broadcast control of multiple mobile robots and for reduction of the total design cost required for constructing the system. When designing an actual experimental system using multiple mobile robots, there exits a serious requirement to suppress the total design cost with the increase of the number of robots. Even though each robot has an only poor hardware platform with a limitation of software development, the proposed wireless network-based subsumption architecture enables them to be broadcastly controlled and to be hierarchically implemented a high-level software architecture such as a schooling behavior. Also, this system enables the multiple mobile robots to be omitted the complicated download process of hex code program in debugging work because the debugging is conducted only on a supervisory server, so that the high maintainability can be performed. The multi-robots monitor running on the supervisory server and the agent dispatcher determining to which agent the highest priority of execution should be given, are further described.

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Author information

Authors and Affiliations

  1. Tokyo University of Science, Yamaguchi, 756-0884, Japan

    Fusaomi Nagata & Akimasa Otsuka

  2. Okayama University, Okayama, 700-8530, Japan

    Keigo Watanabe

  3. American University in Cairo, Cairo, 11511, Egypt

    Maki K. Habib

Authors
  1. Fusaomi Nagata
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  2. Akimasa Otsuka
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  3. Keigo Watanabe
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  4. Maki K. Habib
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Corresponding author

Correspondence to Fusaomi Nagata .

Editor information

Editors and Affiliations

  1. Hankyong National University, Gyeonggi-do, Korea, Republic of (South Korea)

    Yong-Tae Kim

  2. Ochanomizu University, Tokyo, Japan

    Ichiro Kobayashi

  3. Yonsei University, Seoul, Korea, Republic of (South Korea)

    Euntai Kim

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Nagata, F., Otsuka, A., Watanabe, K., Habib, M.K. (2014). Network-Based Subsumption Architecture for Broadcast Control of Multiple Mobile Robots Based on a Poor Hardware/Software Platform. In: Kim, YT., Kobayashi, I., Kim, E. (eds) Soft Computing in Advanced Robotics. Advances in Intelligent Systems and Computing, vol 269. Springer, Cham. https://doi.org/10.1007/978-3-319-05573-2_1

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  • DOI: https://doi.org/10.1007/978-3-319-05573-2_1

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-05572-5

  • Online ISBN: 978-3-319-05573-2

  • eBook Packages: EngineeringEngineering (R0)

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