COMMUNICATION AND DATA TRANSFER IN DISTRIBUTED ROBOTICS SYSTEMS
Abstract
The robotic systems building approaches is analyzed in this paper. Robotics systems can be considered as a distributed system which interacted between individual components of the robotic system and interacted between robotic systems within a single complex. In first case a robotic system can be a collection of individual modules within a single robot. For example, individual motors, servo drives for camera control, and the camera itself control of the unmanned aerial vehicle (UAV) can be considered as separate modules of the entire UAV within a distributed robotic system. In second case robotic system devoted to a massive of connected robotic system. Forexample, each UAV is a robotic system which is a part of whole robotic system that define UAV group interaction. An approach that allows a unified way to describe such robotic systems hierarchy is needed. In the field of robotics systems, there are many approaches to building it, which defines the means of communication and data transfer. This paper describes the existing approaches, their advantages and disadvantages, and suggests another approach for creating distributed robotic systems. Each nodes network connection in the existing approaches is provided by transferring data with their subsequent processing The article describes an approach based on the encapsulation of executable code in transmitted network packets. The object interaction is carried out through the control data transfer that interpreted by a distributed virtual machine. The object-oriented programming (OOP) paradigm extension by the concept of a complementary object, allows to create a distributed system that abstracted from the network programming difficulty. An object-oriented approach based on complementary object usage allows to develop a distributed system as a single program, concentrating on the implementation of logic. So we passing from the distributed system as an implementation of separate modules concept to the single distributed program concept without a “syntax breaking”.The proposed approach allows to represent a distributed robotic system in the OOP paradigm as a set of objects interacting over a communication network.
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