2024-03-29T05:22:09Zhttps://repositori.uji.es/oai/requestoai:repositori.uji.es:10234/368412023-07-18T07:25:59Zcom_10234_43662com_10234_9col_10234_43643
Repositori UJI
author
Nebot Roglá, Patricio
author
Torres-Sospedra, Joaquín
author
Martínez, Rafael J.
2012-05-09T11:34:26Z
2012-05-09T11:34:26Z
2011-04-14
Sensors (2011) vol. 11, no. 4, pp. 4385-4400
1424-8220
http://hdl.handle.net/10234/36841
http://dx.doi.org/10.3390/s110404385
The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE) and High Level Architecture (HLA), the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.
eng
Creative Commons Attribution 4.0 Unported (CC BY 4.0)
http://creativecommons.org/licenses/by/4.0/
Hybrid systems
Improved simulation system
Agricultural robotics
Control architecture
HLA-based system
A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environments
info:eu-repo/semantics/article
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