Distributed Shared Memory-based Coordination Among Mobile Robots

Cooperative mobile robots are widely used in commercial and industrial scenar-ios to complete the task. However, to program the coordination among mobile robots is challenging. Compared with the traditional collaborative applications, the current method is not suitable to develop such a robot, which can adapt to collaborative ap-plications development needs. Thus we need new software methods and techniques. In light of this situation, we propose Distributed Shared-memory over Mobile Robots (DSMR). In DSMR, Distributed Shared Memory (DSM) is a key enabling technique. The coordination process is abstracted as the process of reading and writing of coordi-nation data, while the dissemination of coordination data is supported by the DSM. At the same time, DSMR employs Behavior-based Robotics (BBR) to support the devel-opment of one single mobile robot. Through the effective integration of DSM and BBR technologies, DSMR enables the multi-robot coordination. We conduct two case stud-ies to demonstrate the effectiveness of DSMR. The performance measurements show the cost-effectiveness of coordinating mobile robots based on DSMR, in terms of time, space and energy consumption.