| S. Sankhar Reddy CH.,Anita Agrawal,Anupama K.R..[J].重庆邮电大学新办英文刊,2020,(4):452-462 |
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| Quanta - A platform for rapid control and monitoring of heterogeneous rbots |
| Received: November 14, 2017 Revised: August 19, 2019 |
| DOI：https://doi.org/10.1016/j.dcan.2020.01.001 |
| 中文关键词: |
| 英文关键词: modular robotics;Swarm robotics;Concurrent control and monitoring;Event scheduling;Centralized/decentralized communication |
| 基金项目: |
| Author | Institution | E-mail | | S. Sankhar Reddy CH. | E.E.E Department, BITS Pilani, K K Birla Goa Campus, Goa, 403726, India | sankharreddy@outlook.com | | Anita Agrawal | E.E.E Department, BITS Pilani, K K Birla Goa Campus, Goa, 403726, India | aagrawal@goa.bits-pilani.ac.in | | Anupama K.R. | E.E.E Department, BITS Pilani, K K Birla Goa Campus, Goa, 403726, India | anupkr@goa.bits-pilani.ac.in |
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| 中文摘要: |
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| 英文摘要: |
| Rapid prototyping,real-time control and monitoring of various events in robots are crucial requirements for research in the fields of modular and swarm robotics. A large quantities of resources (time, man power,infrastructure,etc.) are often invested in programming,interfacing the sensors,debugging the response to algorithms during prototyping and operational phases of a robot development cycle. The cost of developing an optimal infrastructure to efficiently address such control and monitoring requirements increases significantly in the presence of mobile robots. Though numerous solutions have been developed for minimizing the resources spent on hardware prototyping and algorithm validation in both static and mobile scenarios,it can be observed that researchers have either chosen methodologies that conflict with the power and infrastructure constraints of the research field or generated constrained solutions whose applications are restricted to the field itself.This paper develops a solution for addressing the challenges in controlling heterogeneous mobile robots. A platform named Quanta - a cost effective, energy efficient and high-speed wireless infrastructure is prototyped as a part of the research in the field of modular robotics. Quanta is capable of controlling and monitoring various events in/using a robot with the help of a light-weight communication protocol independent of the robot hardware architecture(s). |
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