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An Actor Based Architecture For Multi-Robot System With Application To Warehouse

Authors:

Aniruddha Singhal,

Harsh Vardhan Singh,

Aarathi Penumatsa,

Prakash Ambwani,

Rajesh SinhaAuthors Info & Claims

IoPARTS'18: Proceedings of the 1st International Workshop on Internet of People, Assistive Robots and Things

Pages 13 - 18

https://doi.org/10.1145/3215525.3215530

Published: 10 June 2018 Publication History

Abstract

In this paper, we have presented a new architecture which allows humans and robots to work collaboratively in an environment. It is built on top of an actor model which uses a separate thread to process information of distinct entities like a human, robot or an algorithm. Because of the use of actor model, the system has advantages of both centralized and distributed systems. In contrast to existing architectures, the major advantage of the proposed system is its modularity and its ability to deal with problems like task allocation, task decomposition, collaboration and multi-robot pathfinding in a dynamic and reactive way. As a proof of concept, we have implemented this architecture with an auction-based algorithm for task allocation in an MRS and have presented the results.

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Cited By

De Sousa ADe Oliveira ATeixeira M(2024)Multi-Agent Robot Systems: Analysis, Classification, Applications, Challenges and Directions2024 IEEE International Conference on Industrial Technology (ICIT)10.1109/ICIT58233.2024.10540823(1-8)Online publication date: 25-Mar-2024
https://doi.org/10.1109/ICIT58233.2024.10540823
Yildirim AReefke HAktas EYildirim AReefke HAktas E(2023)Operational Decisions in Mobile Robot AutomationMobile Robot Automation in Warehouses10.1007/978-3-031-12307-8_6(81-101)Online publication date: 4-Jan-2023
https://doi.org/10.1007/978-3-031-12307-8_6
Yildirim AReefke HAktas EYildirim AReefke HAktas E(2023)Strategic Decisions in Mobile Robot AutomationMobile Robot Automation in Warehouses10.1007/978-3-031-12307-8_4(49-68)Online publication date: 4-Jan-2023
https://doi.org/10.1007/978-3-031-12307-8_4
Show More Cited By

Index Terms

An Actor Based Architecture For Multi-Robot System With Application To Warehouse
1. Computer systems organization
  1. Architectures
  2. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy

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cover image ACM Conferences

IoPARTS'18: Proceedings of the 1st International Workshop on Internet of People, Assistive Robots and Things

June 2018

72 pages

ISBN:9781450358439

DOI:10.1145/3215525

Copyright © 2018 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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SIGMOBILE: ACM Special Interest Group on Mobility of Systems, Users, Data and Computing

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 10 June 2018

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MobiSys '18

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SIGMOBILE

MobiSys '18: The 16th Annual International Conference on Mobile Systems, Applications, and Services

June 10, 2018

Munich, Germany

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Cited By

De Sousa ADe Oliveira ATeixeira M(2024)Multi-Agent Robot Systems: Analysis, Classification, Applications, Challenges and Directions2024 IEEE International Conference on Industrial Technology (ICIT)10.1109/ICIT58233.2024.10540823(1-8)Online publication date: 25-Mar-2024
https://doi.org/10.1109/ICIT58233.2024.10540823
Yildirim AReefke HAktas EYildirim AReefke HAktas E(2023)Operational Decisions in Mobile Robot AutomationMobile Robot Automation in Warehouses10.1007/978-3-031-12307-8_6(81-101)Online publication date: 4-Jan-2023
https://doi.org/10.1007/978-3-031-12307-8_6
Yildirim AReefke HAktas EYildirim AReefke HAktas E(2023)Strategic Decisions in Mobile Robot AutomationMobile Robot Automation in Warehouses10.1007/978-3-031-12307-8_4(49-68)Online publication date: 4-Jan-2023
https://doi.org/10.1007/978-3-031-12307-8_4
Yildirim AReefke HAktas EYildirim AReefke HAktas E(2023)Mobile Robot Systems and Their EvaluationMobile Robot Automation in Warehouses10.1007/978-3-031-12307-8_3(17-47)Online publication date: 4-Jan-2023
https://doi.org/10.1007/978-3-031-12307-8_3

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