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Environment Representation and Communication Protocols in Service-Oriented Multirobot System

An approach to the problem of interoperability in an open and heterogeneous multirobot system is presented. It is based on a generic representation of the environment and the paradigm of Service Oriented Architecture. The proposed concept of object maps is a universal common environment representation for humans and devices. A device is seen as a collection of its capabilities exposed as services. The description language is used for task and service interfaces definition, creation of the task realization plan, and service discovery. The environment representation, the language, as well as the communication protocols constitute together the proposed information technology for automatic task accomplishment in open heterogeneous multirobot system.