CORBA-BASED ARCHITECTURE FOR COOPERATIVE PERCEPTION

In these networked days cooperative perception means that multiple robots with multiple sensors can share their data creating a common knowledge base so that they can plan and interact with the environment in a more appropriate and efficient way. We propose in this work an architecture for cooperative perception for mobile robots based on distributed objects in a network. The implementation follow the CORBA specification, created to facilitate development of distributed applications in heterogeneous network. Objects could be the sensors and actuators of a robot or processes that treat common sensor data. An implementation of an image acquisition and distribution service is presented and others are proposed to compose the architecture.