Navigation and control of cooperative mobile robots using a robotic middleware platform

摘要

In order to achieve cooperative success in a distributed network of robots, a software service commonly known as the middleware layer, must be utilized. The middleware can be seen as the "glue" that links the technology in the robotic network together. It is designed in such a manner that allows for the integration of robots to the network, especially in applications where system configuration time is a critical factor. This paper discusses the design and implementation of a popular robotic middleware platform, namely Player/Stage, for the navigation and control of cooperative mobile robots.