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dc.contributor.authorNebot Roglá, Patricio
dc.contributor.authorTorres-Sospedra, Joaquín
dc.contributor.authorMartínez, Rafael J.
dc.identifier.citationSensors (2011) vol. 11, no. 4, pp. 4385-4400ca_CA
dc.description.abstractThe 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.ca_CA
dc.format.extent16 p.ca_CA
dc.publisherMDPI Publishingca_CA
dc.rightsCreative Commons Attribution 3.0 Unported (CC BY 3.0)
dc.subjectHybrid systemsca_CA
dc.subjectImproved simulation systemca_CA
dc.subjectAgricultural roboticsca_CA
dc.subjectControl architectureca_CA
dc.subjectHLA-based systemca_CA
dc.subject.lcshRobots--Control systemsca_CA
dc.subject.lcshAgricultural machineryca_CA
dc.subject.otherRobots--Sistemes de controlca_CA
dc.subject.otherMaquinària agrícolaca_CA
dc.titleA new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environmentsca_CA

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Creative Commons Attribution 3.0 Unported (CC BY 3.0)
Except where otherwise noted, this item's license is described as Creative Commons Attribution 3.0 Unported (CC BY 3.0)