Context
-Task Description
Developers of autonomous mobile robots face a challenging task: integrating all the sensors and actuators together with enough processing power necessary to solve a given problem into a platform, while at the same time keeping everything small and light enough to be mobile. One solution is to use multiple robots, each equipped with just a small set of sensors, which try to solve a problem together using some means of communication. As a basis for this work an existing modular mobile robot platform will be enhanced with mechanisms allowing the coordination of multiple robots. Instead of developing a proprietary communication system from scratch an existing virtual shared memory middleware, which has been in development for years and addresses all aspects of a distributed system, will be used. Other than simple inter-robot communication, direct access to the other robots' sensors will be realised, allowing for a consistent system view from all participants and their control applications. Since the virtual shared memory system follows a peer-to-peer approach, adding additional resources and monitoring clients should be fairly easy.
Requirements
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Student
Stephan Zavrel (please contact eva Kühn)
Supervisor
A.o. Univ.-Prof. Dr. Dipl.-Ing. eva Kühn (please contact eva Kühn)
Related Projects in the Network
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Contributor
- Joerg Irran, DI, OEFAI
User
- OEFAI
