A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environments
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Altres documents de l'autoria: Nebot Roglá, Patricio; Torres-Sospedra, Joaquín; Martínez, Rafael J.
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A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environmentsData de publicació
2011-04-14Editor
MDPI PublishingISSN
1424-8220Cita bibliogràfica
Sensors (2011) vol. 11, no. 4, pp. 4385-4400Tipus de document
info:eu-repo/semantics/articleVersió de l'editorial
www.mdpi.com/journal/sensorsVersió
info:eu-repo/semantics/publishedVersionParaules clau / Matèries
Resum
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 ... [+]
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. [-]
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info:eu-repo/semantics/openAccess
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