Next Article in Journal
A Secure Cluster-Based Multipath Routing Protocol for WMSNs
Next Article in Special Issue
Soft Water Level Sensors for Characterizing the Hydrological Behaviour of Agricultural Catchments
Previous Article in Journal
Boosting-Based On-Road Obstacle Sensing Using Discriminative Weak Classifiers
Previous Article in Special Issue
Methodology for the Regulation of Boom Sprayers Operating in Circular Trajectories
Article Menu

Export Article

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

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

1
Department of Engineering and Computer Science, Universitat Jaume I, Avda. Sos Baynat S/N, E-12071, Castellón, Spain
2
LSyM - IRTIC Institute, University of Valencia, C/ Catedrático José Beltrán 2, 46980, Paterna, Spain
*
Author to whom correspondence should be addressed.
Received: 15 February 2011 / Revised: 2 April 2011 / Accepted: 13 April 2011 / Published: 14 April 2011
(This article belongs to the Special Issue Sensors in Agriculture and Forestry)
View Full-Text   |   Download PDF [7940 KB, uploaded 21 June 2014]   |  

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. View Full-Text
Keywords: hybrid systems; improved simulation system; agricultural robotics; control architecture; HLA-based system hybrid systems; improved simulation system; agricultural robotics; control architecture; HLA-based system
Figures

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

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.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top