New Layered SOA-Based Architecture for Multi-robots Cooperative Online SLAM

A new layered multi-robots architecture for cooperative online simultaneous localization and mapping based on Service-oriented architecture (SOA) is proposed. This architecture is constructed by the concepts of service-oriented and loosely coupled center scheduling. These methods make robots' underlying function realization be transparent in cooperation and avoid the impact affected by robot heterogeneous characteristics, which will be beneficial to the system construction, expansion, restructuring and maintenance. All data packages follow the SOA unified data format, which can avoid the impact affected by sensor heterogeneous characteristics. The point to point serving model reduces the path of data transmission which can improve the timeliness of the system. All of these features can satisfy the requirements of multi-robots cooperative online SLAM. The simulation results show the feasibility, applicability and practicability of this architecture.