A software system for collaborative robotics applications and its application in particle swarm optimization implementations

Authors:
Cristian I. Vasile;Ctlin Buiu
Affiliations:
Department of Automatic Control and System Engineering, "Politehnica" University of Bucharest, Splaiul Independenei nr. 313, sector 6, 060042 Bucharest, Romania;Department of Automatic Control and System Engineering, "Politehnica" University of Bucharest, Splaiul Independenei nr. 313, sector 6, 060042 Bucharest, Romania
Venue:
Applied Soft Computing
Year:
2011

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Abstract

This paper presents a particle swarm optimization (PSO)-inspired multi-robot search application based on an innovative software system for collaborative robotic applications. The system has a multi-layer architecture which provides low- and high-level interfaces to the robots, resource (robots) management, security policies and concurrent robot access. The main result is the successful testing of the PSO-inspired algorithm on real-world experiments, using Khepera III and e-puck robots. Simulated results obtained in other studies are therefore validated by the real-world experiments. Differences between simulation and real-world experiments are presented and discussed critically.