Resource modelling and combination in modular robotics systems

Modular robotics systems (MRS) model robotics resources as distinct functional modules which are combined to perform tasks. MRS are flexible in both functionality and control, allowing a range of modules and control architectures to be used without modification of modules. This flexibility must be supported by a modelling strategy which allows specification of a module's functionality, and a well-defined mechanism for combining modules. This paper presents a sensor-oriented functional model of modular robotics systems. We describe our approach to modelling robotics resources, which uses semantic annotations to enhance the specification of functionality. A mechanism which successfully detects and resolves consequences of module combination is described, and results from our implementation of this mechanism presented. We outline the application of this work to the automatic configuration of varying control architectures without modification of modules or additional burden on the operator.