A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 3 Issue 1
Jan.  2016

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Yunfei Cai, Zhenmin Tang, Yuhua Ding and Bin Qian, "Theory and Application of Multi-robot Service-oriented Architecture," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 15-25, 2016.
Citation: Yunfei Cai, Zhenmin Tang, Yuhua Ding and Bin Qian, "Theory and Application of Multi-robot Service-oriented Architecture," IEEE/CAA J. of Autom. Sinica, vol. 3, no. 1, pp. 15-25, 2016.

Theory and Application of Multi-robot Service-oriented Architecture


This work was supported by National Natural Science Foundation of China (61305134) and Specialized Research Fund for the Doctoral Program of Higher Education (20133219120035).

  • In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot's underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.


  • loading
  • [1]
    Fierro R, Das A, Spletzer J, Esposito J, Kumar V, Ostrowski J P, Pappas G, Taylor C J, Hur Y, Alur R, Lee I, Grudic G, Southall B. A framework and architecture for multi-robot coordination. The International Journal of Robotics Research, 2002, 21(10-11):977-995
    Tan M, Wang S, Cao Z Q. Multi-robot Systems. Beijing:Tsinghua Press, 2005. 5-10(in Chinese)
    Starke G, Kunkel T, Hahn D. Flexible collaboration and control of heterogeneous mechatronic devices and systems by means of an eventdriven, SOA-based automation concept. In:Proceedings of the 2013 IEEE International Conference on Industrial Technology. Cape Town, South Africa:IEEE, 2013. 1982-1987
    Becker L B, Pereira C E. SIMOO-RT-An object-oriented framework for the development of real-time industrial automation systems. IEEE Transactions on Robotics and Automation, 2002, 18(4):421-430
    Zhou G, Zhang Y S, Bastani F, Yen I L. Service-oriented robotic swarm systems:model and structuring algorithms. In:Proceedings of the 2012 IEEE 15th International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing. Guangdong, China:IEEE, 2012. 95-102
    Insaurralde C C. Service-oriented agent architecture for unmanned air vehicles. In:Proceedings of the 33rd IEEE/AIAA Digital Avionics Systems Conference. Colorado Springs, CO:IEEE, 2014. 8B1-1-8B1-14
    Christo C, Cardeira C. Service oriented architecture for mobile robot localization. In:Proceedings of the 2007 IEEE Conference on Emerging Technologies and Factory Automation. Patras, Greece:IEEE, 2007. 888-891
    Chen Y N, Bai X Y. On robotics applications in service-oriented architecture. In:Proceedings of the 28th International Conference on Distributed Computing SystemsWorkshops. Beijing, China:IEEE, 2008. 551-556
    Mohamed N, Al-Jaroodi J. Service-oriented middleware for collaborative UAVs. In:Proceedings of the 14th IEEE International Conference on Information Reuse and Integration. San Francisco, USA:IEEE, 2013. 185-192
    Amoretti M, Zanichelli F, Conte G. A service-oriented approach for building autonomic peer-to-peer robot systems. In:Proceedings of the 16th IEEE International Workshops on Enabling Technologies:Infrastructure for Collaborative Enterprises. Evry:IEEE, 2007. 137-142
    Morariu C, Morariu O, Borangiu T. Modeling and simulation for serviceoriented agent based manufacturing systems. In:Proceedings of the 2012 IEEE International Conference on Automation Quality and Testing Robotics. Cluj-Napoca, Romania:IEEE, 2012. 44-49
    Doriya R, Chakraborty P, Nandi G C. "Robot-cloud":a framework to assist heterogeneous low cost robots. In:Proceedings of the 2012 International Conference on Communication, Information and Computing Technology. Mumbai, India:IEEE, 2012. 1-5
    Xie D, Ying S, Zhang T, Jia X Y, Liang Z Q, Yao J F. An approach for describing SOA. In:Proceedings of the 2006 International Conference on Wireless Communications, Networking and Mobile Computing. Wuhan, China:IEEE, 2006. 1-4
    Li H Q, Wu Z. Research on distributed architecture based on SOA. In:Proceedings of the 2009 International Conference on Communication Software and Networks. Macau, China:IEEE, 2009. 670-674


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views (966) PDF downloads(2) Cited by()


    DownLoad:  Full-Size Img  PowerPoint