Context-aware robot service coordination system

Abstract

We have developed a service-based architecture using Jini to enable the flexible and reconfigurable connection between the interacting components in the distributed robot network. We have extended the original Jini network model in three different ways that allow the system to prioritize tasks using priority queues in the task coordinator service, automatically download proxies to the relevant client based on the conditions of related parties, and automatically deliver service based on contextual information. By using queueing system theory and simulation study, we have characterized the network performance of our architecture and identified areas for optimization