<title>Network robotics: dynamic reconfigurable architectures</title>

摘要

In this paper we present the Networked Robotics approach to dynamic robotic architecture creation. Building on our prior work we highlight the ease at which system and architecture creation can be moved from the single robot domain to the cooperative/multiple robotic domain; indeed under the Networked Robotic framework there are no differences between the two, a multiple, cooperative, robotic architecture simply emerges from a richer network environment (the module pool). Essentially task-driven architectures are instantiated on an as needed basis, allowing conceptualised designs to be run wherever a suitable framework (i.e. a module pool) exists. Using a basic scenario, that of mapping an environment, we show how radically different architectures for achieving the same task can emerge from the same building blocks. We highlight the flexibility and robustness of the instantiated architectures and the experimental freedom inherent in the approach. The approach has been implemented and tested experimentally.