By Anis Koubâa, J.Ramiro Martínez-de Dios
This booklet compiles the various newest study in cooperation among robots and sensor networks. established in twelve chapters, this booklet addresses basic, theoretical, implementation and experimentation matters. The chapters are equipped into 4 elements particularly multi-robots platforms, facts fusion and localization, safeguard and dependability, and mobility.
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This ebook compiles a few of the most modern examine in cooperation among robots and sensor networks. established in twelve chapters, this ebook addresses primary, theoretical, implementation and experimentation concerns. The chapters are geared up into 4 components specifically multi-robots platforms, information fusion and localization, safeguard and dependability, and mobility.
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Additional resources for Cooperative Robots and Sensor Networks 2015
Int. J. Smart Home 5, 51–64 (2011) 17. : Fair subdivision of multi-robot tasks. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 3014–3019 (2013) 18. : The hungarian method for the assignment problem. Nav. Res. Logistics Quart. 2, 83–97 (1955) 19. : Assignment algorithms for modeling resource contention and interference in multi-robot task-allocation. In: Presentation at IEEE International Conference on Robotics and Automation (ICRA) (2014) 20. : A preliminary study of a new multi-objective optimization algorithm.
9, the courier delivery application package is implemented following COROS architectural concepts. The Communication, ROS Interaction Layer, RobotControl, Application Logic and Knowledge Base Manipulation Layer packages provide the required classes and components for the courier package that encodes the behavior of the application. The courier packages comprises the following main modules: (1) a user module that includes a CourierUserServer a subclass of NodeServer and CourierUserOperator a subclass of SimpleOperator that allow an end-user to send mission to the robots and process received bids, respectively, (2) a robot module that includes CourierRobotServer a subclass of RobotServer and CourierRobotOperator a subclass of RobotOperator allowing a robot to receive mission orders and process commands.
Once all bids are received, the auctioneer selects the robot with the lowest bid to execution the mission. The winning robot moves to the sender office first to get the courier and then goes to the receiving office for delivery. We have deployed this application in the Computer Science department at Prince Sultan University using two robots and four offices as illustrated in Fig. 8. A map of the environment was established using ROS gmapping package. A video demonstration explaining the scenario is available in the iroboapp project page .