A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic functionality. The architecture is based on the paradigm of Service Oriented Architecture (SOA), and a generic representation (ontology) of the environment. A device (e.g. robot) is seen as a collection of its capabilities exposed as services. Generic protocols for publishing, discovering, arranging services are proposed for creating composite services that can accomplish complex tasks in an automatic way. Also generic protocols for execution of composite services are proposed along with simple protocols for monitoring the executions, and for recovery from failures. A software platform built on a multi-robot system (according to the proposed architecture) is a multi-agent system.

Cloud computing makes our life easy by delivering computing resources as utility like telephony, water and gas. In cloud computing users should pay only for what they consumed. Nowadays, cloud service providers deliver a huge number of cloud services with almost the same features which makes the cloud services discovery and selection process as a big challenge for the end consumers. Using existing search engines results in a lot of unrelated outcome which increases the cloud service discovery and selection process time and effort. In this paper, we present an enhanced cloud services marketplace framework to facility the cloud services trading between providers and consumers and to make could services more visible for all consumers. Proposed framework receives users' requests as a voice commands or flat-text then translates them based on Natural Language Understanding technologies. In additional, we enhanced the matching algorithm by adding different weights for attributes based on consumer preferences. Experiments showed an enhancement in the overall user experience and better matching for user request.

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