Sensors 2011, 11(4), 4385-4400; doi:10.3390/s110404385
Article

A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments

Received: 15 February 2011; in revised form: 2 April 2011 / Accepted: 13 April 2011 / Published: 14 April 2011
(This article belongs to the Special Issue Sensors in Agriculture and Forestry)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE) and High Level Architecture (HLA), the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.
Keywords: hybrid systems; improved simulation system; agricultural robotics; control architecture; HLA-based system
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MDPI and ACS Style

Nebot, P.; Torres-Sospedra, J.; Martínez, R.J. A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments. Sensors 2011, 11, 4385-4400.

AMA Style

Nebot P, Torres-Sospedra J, Martínez RJ. A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments. Sensors. 2011; 11(4):4385-4400.

Chicago/Turabian Style

Nebot, Patricio; Torres-Sospedra, Joaquín; Martínez, Rafael J. 2011. "A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments." Sensors 11, no. 4: 4385-4400.

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