ROCI: A Distributed Framework for Multi-Robot Perception and Control
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Departmental Papers (CIS)
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This paper presents ROCI, a framework for developing applications for multi-robot teams. In ROCI, each robot is considered a node which contains several modules and may export different types of services and capabilities to other nodes. Each node runs a kernel that mediates the interactions of the robots in a team. This kernel keeps an updated database of all nodes and the functionalities that they export. Multi-robot applications can he built dynamically by connecting modules that may be running on different nodes over the network. As an example, we present an obstacle avoidance task implemented using our framework and also discuss the use of ROCI in a multi-robot scenario.
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2003-10-27
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Departmental Papers (CIS)
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2023-05-16T21:43:01.000
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Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Volume 1, pages 266-271. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27983&page=3 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.