Holonic Task Execution Control of Multi-Mobile-Robot Systems (Holonische Controle van de Taakuitvoering bij Systemen met Meerdere Mobiele Robots) KU Leuven
Robot control software has rapidly evolved the past decade resulting in increasingly complex applications in increasingly dynamic environments. Nevertheless, most existing robot software architectures and frameworks are robocentric. If a resource has to be shared between multiple robots, no separate component or agent is defined to represent that resource. This lack of reflection of reality impedes robustness with respect to unexpected changes ...