micROS: a morphable, intelligent and collective robot operating system

Abstract

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe–orient–decide–act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

Intelligent Robotics—A Systematic Review of Emerging Technologies and Trends

“…Human factor professionals must be more involved in human-robot interaction research to address safety and acceptability issues [64]. Furthermore, the development of intelligent and collective robots, such as micROS, presents challenges in implicit knowledge extraction, global role assignment optimization, and human-machine intelligence coordination [52].…”

Modeling and Simulation of Processes in a Factory of the Future

“…For the collective behaviour of such a swarm, relatively simple rules apply. Each member of the swarm has a specified range of activities, which it carries out in favour of the whole swarm [14].…”

A Survey on Multi-Robot Coordination in Electromagnetic Adversarial Environment: Challenges and Techniques

“…An alternative way is to classify the components according to the ''sense-decide-act'' behavior chain. In terms of technical implementation, plugin is an effective way to realize components and can be developed independently from specific applications [118]. Currently, plugin techniques are widely used in the development of robot functions [119], [120], and some plugin-based architectures are produced, e.g.…”

“…Currently, plugin techniques are widely used in the development of robot functions [119], [120], and some plugin-based architectures are produced, e.g. OpenRAVE [121], OpenMRH [122], micROS [118], etc.…”