An Architecture for Decentralized, Collaborative, and Autonomous Robots

A Software Architecture for Service Robots Manipulating Objects in Human Environments

“…In [45], a decentralized robotic architecture (SERA) is proposed for heterogeneous multiple robots and implemented in ROS. The architecture supports self-adaptation of individual robots and a team of robots by refining and reconfiguring plans and models.…”

“…Full-stack (missing component) No human intervention Platform-agnostic Real-world demonstration NUClear [44] No (knowledge base, reasoning, UI) Not clear Yes No SERA [45] No (knowledge base) No Yes Yes LAAIR [47], [48] Yes No Yes Yes COROS-based [49], [50] No (reasoning) No Yes Yes Fraiser [51] No (e.g., navigation component) and a provider (e.g., a controller). The requester-provider interaction occurs across the our architecture: KM requests a perception job to PR, TM requests for checking the feasibility of task plans to TMI, TMI asks AM to find feasible trajectories of joints, and etc.…”

Concepts of a Modular System Architecture for Distributed Robotic Systems

“…For the SERA (Self-adaptive dEcentralized Robotic Architecture) approach [19], related architectures have been reviewed. The SERA approach consists of a distributed system of robots and a central station.…”

Effective engineering of multi-robot software applications

“…ICSE '18 Companion, May 27-June 3, 2018, Gothenburg, Sweden Sergio García the communication among robots (RQ2 and RQ3); and (6) the algorithms and rules in charge of managing the choreography of the robotic team (RQ3). ( 1) and ( 3) are being continuously developed (we already performed a study map of software architectures for robot applications [4]). ( 2) is already developed [4].…”

“…( 1) and ( 3) are being continuously developed (we already performed a study map of software architectures for robot applications [4]). ( 2) is already developed [4]. (4) will be addressed in the near future and (5) in the second part of the project.…”