Programming modular robots with the TOTA middleware

Authors:
Marco Mamei;Franco Zambonelli
Affiliations:
Dipartimento di Scienze e Metodi dell'Ingegneria, University of Modena and Reggio Emilia, Reggio Emilia, Italy;Dipartimento di Scienze e Metodi dell'Ingegneria, University of Modena and Reggio Emilia, Reggio Emilia, Italy
Venue:
ESOA'06 Proceedings of the 4th international conference on Engineering self-organising systems
Year:
2006

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Abstract

Modular robots represent a perfect application scenario for multiagent coordination. The autonomous modules composing the robot must coordinate their respective activities to enforce a specific global shape or a coherent motion gait. Here we show how the TOTA ("Tuples On The Air") middleware can be effectively exploited to support agents' coordination in this context. The key idea in TOTA is to rely on spatially distributed tuples, spread across the robot, to guide the agents' activities in moving and reshaping the robot. Three simulated examples are presented to support our claims.