Software Architecture of Control System for Heterogeneous Group of Mobile Robots

This article describes the software architecture, which can significantly reduce development time, provide an effective process of data exchange and control of mobile robots (or a group of mobile robots). This architecture is based on representation of a mobile robot as the composition of mechatronic devices connected in a hierarchical graph of software interactions (also known as middleware systems). This architecture provides high robustness, capacity and transmission frequency of control commands and data. Also, successful results have been achieved in providing dynamic reconfiguration of system components without stopping as well as automatic crash recovery (including complex interaction graphs) and auto-configuration.