Abstract-We address the shortage of available software frameworks for distributed control systems/robotics and describe a novel agent-based software architecture simplifying the development, testing, and deployment of distributed controllers. Our Distributed Control Framework (DCF) provides extensive support for robot team coordination and management, a pluggable architecture for sensing and estimation, robust simulation capabilities with support for hardware in the loop, and a highlevel platform-independent programming language for hybrid control called MDLe (Motion Description Language Extended). We highlight two experiments that showcase the DCF and MDLe using real robots, and we conclude the paper with the derivation and discussion of an indoor robot navigation system used in our experiments. The navigation system combines robot odometry and range measurements from a network of Cricket sensors using an extended Kalman filter.
Kulis et al. REF proposed a software framework for controlling multiple robot agents by creating a Distributed Control Framework (DCF).
The Distributed Control Framework: A software infrastructure for agent-based distributed control and robotics
2008 American Control Conference
2008 American Control Conference
Computer Science