An Actor-based Programming Framework for Swarm Robotic Systems

被引：3

作者：

Yi, Wei ^{[1
,2
,3
]}

Di, Bin ^{[1
,2
]}

Li, Ruihao ^{[1
,2
]}

Dai, Huadong ^{[1
,3
]}

Yi, Xiaodong ^{[1
,3
]}

Wang, Yanzhen ^{[1
,2
,3
]}

Yang, Xuejun ^{[1
,3
]}

机构：

[1] Natl Innovat Inst Def Technol NIIDT, Artificial Intelligence Res Ctr AIRC, Beijing 100166, Peoples R China

[2] Tianjin Artificial Intelligence Innovat Ctr Tai, Tianjin 300457, Peoples R China

[3] Natl Univ Def Technol, Coll Comp, State Key Lab High Performance Comp, Changesha 410073, Peoples R China

来源：

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年

基金：

中国国家自然科学基金;

关键词：

MULTIROBOT; EXPLORATION; SOFTWARE;

D O I：

10.1109/IROS45743.2020.9341198

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Programming cooperative tasks for autonomous swarm robotic systems has always been challenging. In this paper, we introduce a concept 'Actor', as a virtualization for robot platforms. Every robot platform in the swarm robotic system carries out the task and interacts with others as an Actor. We designed an Actor-based framework for the management of autonomous swarm robotic systems including modules and interfaces for the Actor, the collective Actor, and task management. The Actor-based framework enables task developers to explicitly model cooperative tasks without intricacies about the detailed robotic algorithms or the specific robot brands, and eases the burden on robotic algorithm developers by providing common functionalities. The proposed framework is implemented in C++ and validated quantitatively and qualitatively with a swarm of thirty drones by simulations and a swarm of ten drones by in-field tests.

引用

页码：8012 / 8019

页数：8

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