Using control networks for distributed robotic systems

Abstract

Through our work we have identified hardware and software components that enable us to mimic biological entities and colonies within the context of multi-agent systems. Specifically, we use control networks with fieldbus or wireless data links to connect distributed hardware and software modules. Although there are many implementations of multi-agent systems, most literature seems to focus on the algorithmic aspects. We describe how (LonWorks) control networks, coupled with minimal custom electromechanical devices, can be used to construct multi-agent systems. Important issues include real-time system constraints, fault-tolerance, synchronization, and, of course, solving the robotic tasks at hand. We describe three proof-of-concept projects currently underway: a biped walking robot; a hexapod colony; and a complex autonomous vehicle. It is believed that attributes observed in these projects can be used to build application-specific systems in other areas.