MISSION-ORIENTED HETEROGENEOUS ROBOT COOPERATION BASED ON SMART RESOURCES EXECUTION

• Autores: Eduardo Munera Sánchez
• Directores de la Tesis: José Simó (dir. tes.), Juan Francisco Blanes Noguera (dir. tes.)
• Lectura: En la Universitat Politècnica de València ( España ) en 2017
• Idioma: español
• Tribunal Calificador de la Tesis: Juan Manuel García Chamizo (presid.), Ángel Valera Fernández (secret.), Markus Bader (voc.)
• Materias:
  • Ciencias tecnológicas
    • Tecnología de los ordenadores
      • Dispositivos de control
      • Dispositivos de transmisión de datos
      • Sistemas en tiempo real
• Enlaces
  • Tesis en acceso abierto en: RiuNet
• Resumen

  • Home environments are changing as more technological devices are used to improve daily life. The growing demand for high technology in our homes means that robot integration will soon arrive. Home devices are evolving in a connected paradigm in which data flows to perform efficient home task management. Heterogeneous home robots connected in a network can establish a workflow that complements their capabilities and so increases performance within a mission execution. This work addresses the definition and requirements of a robot-group mission in the home context. The proposed solution relies on a network of smart resources, which are defined as cyber-physical systems that provide high-level service execution. Firstly, control middleware architecture is introduced as the execution base for the Smart resources. Next, the Smart resource topology and its integration within a robotic platform are addressed. Services supplied by Smart resources manage their execution through a robot behavior architecture. Robot behavior execution is hierarchically organized through a mission definition that can be established as an individual or collective approach. Environment model and interaction tasks characterize the operation capabilities of each robot within a mission. Mission goal achievement in a heterogeneous group is enhanced through the complement of the interaction capabilities of each robot. To offer a clearer explanation, a full use case is presented in which two robots cooperate to execute a mission and the previously detailed steps are evaluated. Finally, some of the obtained results are discussed as conclusions and future works is introduced.