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Software Infrastructure for Communications in Distributed Robotics Systems

Author: Isik, A.O.
Mentor: Babuska, R. · Lopes, G.A.D. · Simonetto, A.
Faculty:Electrical Engineering, Mathematics and Computer Science
Department:Microelectronics & Computer Engineering
Programme:Embedded Systems
Type:Master thesis
Date:2010-11-30
Keywords: Communication Library · Distributed Robotics · Multi Agent Systems
Rights: (c) 2010 Isik, A.O.

Abstract

Communication libraries that are created for Multi Agent Systems and Distributed Robotics Systems are generally application specific and do not address many systems with different capabilities. The purpose of this project is to design and implement a software communication library for Distributed Robotics Systems not only to meet the needs of Distributed Robotics Group, but also to address more general Multi Agent Systems. The Distributed Robotics Library is modeled by the standard 7 Layer OSI Reference Model. The physical transmission and medium access are standardized by WLAN standards. For networking IPv4, and for the transport control TCP and UDP protocols are used. For identification of the robots in the network, automatic advertisement broadcasting technique is used. Connection request/accept technique is used to start server/client communication between the robots.

To test the Distributed Robotics Library, 5 Asus Eee PC's are used to represent the robots. For testing several functions, an application is implemented to address the clock synchronization problem. During the tests, a message relaying function is implemented and added as an extension to the library. The Distributed Robotics Library is also tested in Unix and its portability is verified.

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