HAL Id: hal-01979405
https://hal.laas.fr/hal-01979405
Submitted on 12 Jan 2019
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A general framework for multi-robot cooperation and its
implementation on a set of three Hilare robots
Rachid Alami, Luis Aguilar, Hana Bullata, Sarah Fleury, Matthieu Herrb,
Félix Ingrand, Maher Khatib, Frédéric Robert
To cite this version:
Rachid Alami, Luis Aguilar, Hana Bullata, Sarah Fleury, Matthieu Herrb, et al.. A general framework for multi-robot cooperation and its implementation on a set of three Hilare robots. in: Khatib O., Salisbury J.K. (eds) Experimental Robotics IV., 223, Springer-Verlag, pp.26-39, 2005, Lecture Notes in Control and Information Sciences. �hal-01979405�
Refinement request Mission Robots synchronizations and Multi−robots trajectories Plan steps and Trajectories Plan merging request Reports Execution events Coordination plan Plan Mission supervisor Coordination supervisor and Plan merging protocole
Execution supervisor Plan−merging Planner Mission refinment Planner Mission layer Coordination layer Execution layer
Decisional level or Robot Supervisor
Central Station robot j robot i proprioceptive sensors Environment Model Perceived Obstacles Current Position Motion Planner Position Monitoring AvoidanceLocal Motion Execution Communication Central Station proximetric sensors
client/server relation update poster read poster
FUNCTIONAL LEVEL PHYSICAL LEVEL DECISIONAL LEVEL External Perception Inter−Robots Communication sensors proximetric & effectors Robot Supervisor
Unix
Ethernet - TCP/IP
Central Control Robot Control Systems
rs-232 + modem hilare 2 rs-232 + modem hilare 1.5 Unix Station Hilare 1.5 Hilare 2 RCS-3 RCS-1 CCS rs-232 + modem hilare 2 b Hilare 2 b’ RCS-2 Unix 3D graphic server