Recent years have witnessed the prosperity of robots and in order to support consensus and cooperation for multi- robot system, wireless communications and networking among robots and the infrastructure have become indispensable. In this technical note, we first provide an overview of the research contributions on communication-aware motion planning (CAMP) in designing wireless-connected robotic networks (WCRNs), where the degree-of-freedom (DoF) provided by motion and communication capabilities embraced by the robots have not been fully exploited. Therefore, we propose the framework of joint communication-motion planning (JCMP) as well as the architecture for incorporating JCMP in WCRNs. The proposed architecture is motivated by the observe-orient-decision-action (OODA) model commonly adopted in robotic motion control and cognitive radio. Then, we provide an overview of the orient module that quantify the connectivity assessment. Afterwards, we highlight the JCMP module and compare it with the conventional communication-planning, where the necessity of the JCMP is validated via both theoretical analysis and simulation results of an illustrative example. Finally, a series of open problems are discussed, which picture the gap between the state-of-the-art and a practical WCRN.
Recent years have witnessed the evolution of robotics and great industrial academic efforts. As the robots interact with the physical and social environments, considerable research contributions have been devoted to robotic sensing, cognition, motion path planning and control @cite_37 . A multi-robot system aims at achieving challenging tasks or significantly improving mission performance compared with a single robot, which demands consensus and cooperation among robots @cite_11 . Therefore, maintaining the connectivity quality for information exchange among robots becomes vital. As mobile robots are less likely to be connected via wires, the wireless communications and networking among robots and the infrastructure would play an crucial role and the wireless-connected robotic networks (WCRNs) are very likely to be incorporated into the next-generation communication networks.
@cite_37 @cite_11
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Future life pictures humans having intelligent humanoid robotic systems taking part in their everyday life. Thus researchers strive to supply robots with an adequate artificial intelligence in order to achieve a natural and intuitive interaction between human being and robotic system. Within the German Humanoid Project we focus on learning and cooperating multimodal robotic systems. In this paper we present a first cognitive architecture for our humanoid robot: The architecture is a mixture of a hierarchical three-layered form on the one hand and a composition of behaviour-specific modules on the other hand. Perception, learning, planning of actions, motor control, and human-like communication play an important role in the robotic system and are embedded step by step in our architecture This paper presents HiDDeN, a high-level distributed architecture for multi-robot cooperation. HiDDeN aims at controlling a team of heterogeneous robots in environments with uncertain communications. It relies on a mission plan defined as an instantiated HTN, i.e. a hierarchical decomposition of robots' tasks. This hierarchical structure also benefits to plan repair operations in case of failure detections. This repair is made as local as possible, in order to avoid unnecessary communications between robots.