Multi-robot data mapping simulation by using microsoft robotics developer studio

作者：Matta Gomez Antonio^*; Del Cerro Jaime; Barrientos Antonio

来源：Simulation Modelling Practice and Theory, 2014, 49: 305-319.

DOI：10.1016/j.simpat.2014.10.003

• Service Oriented Computing (SOC)
• Multi-robot systems
• Data mapping
• Robotics frameworks
• Microsoft robotics developer studio

This document summarizes the goals achieved in the development of a data mapping application, for a multi-robot system, implemented as a service with the guidelines found in the Service Oriented Computing paradigm (SOC). The obtained service generates both local and global maps in the reconstruction of a virtual scenario: the local maps represent the surrounding area around each one of the mobile robots, and the global one the totality of the scenario where the robots move. The information of the global map is continuously updated by merging the data coming from the local maps by using a novel approach: each one of the maps manages a confidence level value that defines which of the data coming from the maps is worthy of being updated into the global one. This technique is not present in related work. The Microsoft Robotics Developer Studio framework was chosen for its implementation because of the advantages that this tool offers in the management of concurrent and distributed processes, typically found in both a robotics platform and in a multi-robot system.

• 出版日期2014-12