Search results for "control architecture"
showing 4 items of 4 documents
A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environme…
2011
The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating …
Wireless MAC Processor Networking: A Control Architecture for Expressing and Implementing High-Level Adaptation Policies in WLANs
2013
The current proliferation of unplanned wireless local area networks (WLANs) is creating the need for implementing different adaptation strategies to improve network performance under mutating and evolving interference scenarios. In this article, we envision a new solution for expressing and implementing high-level adaptation policies in WLANs, in contrast to the current approaches based on vendor-specific implementations. We exploit the hardware abstraction interface recently proposed by the wireless medium access control (MAC) processor (WMP) architecture and some flow-control concepts similar to the Openflow model for defining MAC adaptation policies. A simple control architecture for dis…
Control Architecture for Wireless MAC Processor Networking
2013
Abstract: In these years, the proliferation of unplanned WLANs is creating the need of implementing different adaptation strategies for improving the network per- formance under mutating and evolving interference scenarios. Many vendors pro- pose undisclosed MAC/PHY optimization solutions, such as ambient noise immunity schemes, dynamic tuning of operating channels and contention parameters, etc., rely- ing on low-level implementations in the card hardware/firmware. In this paper we envision a new solution for expressing and implementing high-level adaptation policies in WLANs, in contrast to the current approaches based on vendor- specific implementations. We exploit the hardware abstracti…
Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…
2016
International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…