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Mesut Ipek, "Aufgabenbeschreibung für mobile Roboterschwärme," Master's Thesis, Department of Computer Science, Friedrich–Alexander University of Erlangen–Nuremberg (FAU), May 2006. (Advisors: Gerhard Fuchs and Falko Dressler)


The Roses project at the chair for communication systems and computer networks is occupied in the context of research and teaching with sensor networks and energy administration. Among other things sensor networks are build up and managed using robot swarms. Communication and coordination are essential. Furthermore energy aspects are investigated: in case of a task which one robot can not fulfil due to low power, an another robot should take it. These and other examples of robot swarm usage require distributing tasks. Some tasks can be divided to be executed in parallel. Other tasks can only be done sequentially. Subtasks on different robots which fulfil an overall task need to be synchronized. Hierarchical composition of tasks is also necessary. A task description and execution Framework is needed to assign tasks and control them. Furthermore an interface is needed to provide execution and information instructions for planer and controller units. The robots are equipped with the Robrain plugin system which provides an instruction set. First of all existing robot programming languages are inspected and evaluated. It turns out that none of the robot programming languages can be used for pure description of tasks and their relationship as demanded for the project. Research in alternative areas where task description plays a role results within the business processes. UML2 activity diagrams known from the software engineering are used in workflows besides other specifications. The light-weight extensibility mechanisms of UML are used to suit the activity diagrams to the needs of the robot task description, especially for the plugin system. For data exchange the XMI2.0 format specified from the OMG (Object Management Group) is used. Two plugins are developed for the plugin system. A plugin for the processing of the XMI2.0 based extended activity diagrams. The XMI file can be given or exists at a local store. An another plugin based on an RPC library provides execution and information commands.

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Mesut Ipek

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    author = {Ipek, Mesut},
    title = {{Aufgabenbeschreibung f{\"{u}}r mobile Roboterschw{\"{a}}rme}},
    advisor = {Fuchs, Gerhard and Dressler, Falko},
    institution = {Department of Computer Science},
    location = {Erlangen, Germany},
    month = {5},
    school = {Friedrich--Alexander University of Erlangen--Nuremberg (FAU)},
    type = {Master's Thesis},
    year = {2006},

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