A Robot Augmented Environment Based on ROS Multi-Agent Structure

Abstract

This paper presents how to construct an augmented environment for a robot controller software. First, a multiagent software architecture based on the Robot Operating System (ROS) platform is purposed as a framework to superimpose real-world, virtual and software environments. Then, key settings in the ROS framework that affect the robot-environment interaction are discussed. To resolve such issues, message aggregation/dissemination in the proposed framework are implemented using the Simulink-based time-triggered architecture. Finally, a collision detection problem is demonstrated a built robot interacts with the proposed augmented environment.