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

CAI Yunfei; TANG Zhenmin; ZHAO Chunxia

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CAI Yunfei, TANG Zhenmin, ZHAO Chunxia. “New Layered SOA-Based Architecture for Multi-robots Cooperative Online SLAM”. Chinese Journal of Electronics, vol. 23 no. 1.

Citation:

CAI Yunfei, TANG Zhenmin, ZHAO Chunxia. “New Layered SOA-Based Architecture for Multi-robots Cooperative Online SLAM”. Chinese Journal of Electronics, vol. 23 no. 1.

CAI Yunfei, TANG Zhenmin, ZHAO Chunxia. “New Layered SOA-Based Architecture for Multi-robots Cooperative Online SLAM”. Chinese Journal of Electronics, vol. 23 no. 1.

Citation:

CAI Yunfei, TANG Zhenmin, ZHAO Chunxia. “New Layered SOA-Based Architecture for Multi-robots Cooperative Online SLAM”. Chinese Journal of Electronics, vol. 23 no. 1.

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

Institute of Pattern Recognition and Artificial Intelligence, Nanjing University of Science and Technology, Nanjing 210094, China

Funds: This work is supported by the National Nature Foundation for Major Research Projects of China (No.90820306), the National Science Foundation for Young Scientists of China (No.61305134).

Received Date: 2012-05-01
Rev Recd Date: 2012-12-01
Publish Date: 2014-01-05

Abstract

Abstract

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.
- Service-oriented architecture (SOA),
- Multi-robot cooperative online SLAM (MRCO-SLAM),
- Loosely coupled

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References(14)

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