Decentralized control of distributed intelligent robots and subsystems

In a distributed robot system, asynchronous and synchronous communication between the system components is necessary to guarantee problem soliving capability in realtime. On that account, the distributed control architecure of the Karlsruhe Autonomous Mobile Robot KAMRO which is being developed at IPR has been extended by these communication kinds. The robot system consists of several subcomponents, like manipulators, two hand-eyecameras, one overhead camera and a mobile platform. To get better problem solving capability than the former centralized control architecture, these components are able to work together in teams (asynchronous communication) or special agents (synchronous communication).