SENORA: A P2P Service-Oriented Framework for Collaborative Multirobot Sensor Networks

SENORA is an open hardware and software architecture for the cooperative coordination of multiple heterogeneous mobile robots operating in a common environment. It is designed to meet the stringent requirements of modern loosely coupled multirobot architectures, such as flexibility, reliability, and fault tolerance. As such, the proposed architecture enables the robots to cope with the ubiquitous presence of various types of uncertainties in their operating environments. SENORA is a fully autonomous and scalable sensory-based peer-to-peer (P2P) framework. It also offers a real-time inter-robot communication protocol and it is based on the state-of-the-art P2P technology, which is specifically designed to satisfy the requirements of physical sensory data publishing and fusion. This architecture is implemented and evaluated on a team of indoor mobile robots. The test results manifest the architecture's distinguished features and capabilities