METHODS AND MEANS OF ORGANIZING THE GROUP WORK OF ROBOTS IN CLOUD ROBOTIC SYSTEMS

Abstract

Methods of organizing software tools that ensure the exchange of information between robots to coordinate their collective work in robotic systems (CRS) are considered. For this purpose, three components are proposed to input in the CRS software: 

1. A data management system for maintaining an information base with a network logical structure. Through this network, it is proposed to present a simulation model of the subject area, which is the working area of the group of robots.
2. The built-in instant messaging, providing the primary reception and processing of messages from robots and operator-instructors.
3. Interpreters of data input and output operations in the simulation model.

The efficiency of the joint operation of the CRS robot group depends on the accuracy of the simulation model of the domain that is supported by the data management system. In this paper, it is proposed to use a simulation model of the subject area as a universal means of storing and transmitting data between robots. It is proposed to assign special macroprograms to the nodes of the semantic network, which are compiled in a problem-oriented language. These macroprograms implement micro-planning of noncomplicated robot operations. This implementation allows planning the work of a group of robots while ensuring the planner’s software independence from the changes in the composition of macroprograms and the complexity of the semantic network. With the described implementation, there is no need to reprogram the system when developing a semantic network, changing the composition and complexity of macroprograms, which simplifies the technology of creating CRS and provides an opportunity to organize the operation of the system in terms of its continuous development. The proposed methods for forming simulation models of software, containing a great number of macroprograms allow obtaining plans for joint and coordinated activities of a group of robots.