Modular architecture of the multi-robot system for teleoperation and formation control purposes

In this paper architecture of the control system for the multiple mobile robots is presented. It was designed for teleoperation and multiagent algorithm tests. Subsystems are connected with wired or wireless links depending on their mobility and distance. The modules, their software and hardware interfaces were designed to make the system easily modifiable as different algorithms require less or more sensors, interaction, communication and computing power. The goal was to design a system on which a large number of control algorithms can run.