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.
Programming Modular Robots with the TOTA Middleware / Mamei, Marco; Zambonelli, Franco. - STAMPA. - (2007), pp. 99-114. (Intervento presentato al convegno International Workshop on Engineering Self-Organizing Applications tenutosi a Hakodate, Japan nel May 9, 2006).
Programming Modular Robots with the TOTA Middleware
MAMEI, Marco;ZAMBONELLI, Franco
2007
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.
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