Design/implementation architecture for complex multirobot systems
J.T. Herd, Neil D. Duffy, Gary P. Philip, Alan C. Davidson, N. J. Eccles · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1991
An architecture for implementing complex real-time systems has been developed in which a society of multiple co-operating agents provide a structure which allows distributed Sensor/Plan/Actuator subsystems to function under non-ideal/error conditions. The structure allows modifications to be made and new techniques and methods to be incorporated without significant disruption to the overall system. A novel supporting parallel hardware architecture based on rotating dataftow provides real-time capability.