Perception network for the team of indoor mobile robots: concept,architecture, implementation

The concept of perception network with application to the distributed perception processes taking place among mobile robots operating on the shared shop-floor is discussed. Its relationship with the distributed environment modeling is pointed out. The concept of geometrical database is combined with multiple classes of maps generated with particular physical sensors, in order to obtain the world model. The logical and functional structure of the perception network has been proposed to reflect the semantics of the transportation system consisting of the team of indoor mobile robots.