Communication architecture based on Player/Stage and sockets for cooperative guidance of robotic units

Abstract

This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device, of the network control system.Using this communication architecture as the base, local and remote control alternatives are described for a mobile unit as well as for several working in convoy.The robotic platform is a P3-DX improved with electronic systems for control and communicatio: main board "VIA-EPIA mini ITX" and ethernet converter WLI-TX4-G54HP-2.Besides the descripction of how to implement the communication architecture, the results of an example of a P3-DX remotely controlled are included.

Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots

“…Some of the authors of this paper have also designed control solutions for the remote control of a robotic unit [6] and for the guidance of robots platooning [2], [7], [16], [8], but always implemented with periodic sampling. However, in the context of robotics formation or applications based on robotics tele-operation is of foremost importance to minimize the computational load of the on-board electronics system of the mobile unit [9], [14], as well as to reduce the communications burden.…”