Programming and Control of Multi-Robot Systems

摘要

The paper presents a formalized approach to designing the structure of a controller and its programming method for a multi-robot system equipped with diverse external sensors. It shows that it is sucien t to extend a universal programming language by a single robot specic instruction to program such a system. Although, a single complex instruction would suce, it is much more convenient to introduce two, but simpler ones. The paper shows how to implement such instructions using object-oriented approach. This approach has been used to implement Multi-Robot Research-Oriented Controller MRROC++.