The architecture for reliable log service for heterogeneous distributed mobile robotic systems

摘要

Modern mobile robotic systems are distributed sets of mobile robots that can include heterogeneous robotic platforms with various equipment. Moreover, they are able to perform variety of concurrent tasks in obscure environment with unreliable network communications between robotic nodes. Therefore, it is important to have a reliable log service that allows storing information from the robotic devices in a secure location for troubleshooting, estimating the system performance, etc. This paper proposes the architecture of reliable log service, that can increase probability of log delivery in an emergency with some robotic devices. Also, this paper describes communication algorithms between the service instances on robotic devices and proposes technique for estimation of optimal parameters using modeling and simulation.