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An Extensible System Architecture for Cooperative Mobile Robots

Self-organization in autonomous sensor/actuator networks is an emerging research area. Special focus lies on cooperation issues of mobile robot systems. We employed multiple software engineering methodologies to develop an easily extensible core system named robrain. In this paper, we present the structure of our plugin-based system architecture and demonstrate its applicability based on well-defined key requirements. The primary application area is the development of extensible software systems for teams of collaborating mobile robots. Using available extensions, the system can be interconnected with sensor networks or entities controlling the behavior of a multi-robot system. We already used this system in several courses at our university. We have discovered that several studies can be easily conducted due to the modular structure and the provided remote controllability.