计算机工程2025，Vol.51Issue(10)：37-52,16.DOI:10.19678/j.issn.1000-3428.0069708
群体机器人系统通信编程框架综述
Survey of Communication and Programming Frameworks for Multi-Robot Systems
摘要
Abstract
Advances in computational power and network technologies have driven robots toward miniaturization,swarm intelligence,and autonomous capabilities.Robot software deployed on robotic hardware must integrate diverse modules from low-level device drivers and controls to high-level motion planning and reasoning,resulting in increasingly complex architectures.A communication and programming framework for multi-robot systems-focusing on standardization,modularization,and platformization-can alleviate the complexity of programming robotic software.The development trends in robotic software and hardware architecture show that a swarm robotic system is a multi-domain,heterogeneous,and distributed system composed of computing nodes,actuators,sensors,and other hardware devices interconnected through wired or wireless networks.The heterogeneity of hardware devices makes it difficult to integrate software components into a single framework.This survey summarizes and analyzes existing robotic communication frameworks in terms of ease of use and portability,comparing their core features,such as programming models,heterogeneous hardware support,communication and coordination mechanisms between components,and programming languages.The survey then highlights the technical trends of advanced topics such as real-time virtualization,component orchestration,and fault tolerance.Moreover,this survey focuses on building a next-generation framework on a meta Operating System(OS)foundation,aiming to build a ubiquitous and integrated multi-robot software architecture for human-machine-object interactions.关键词
群体机器人/通信编程框架/雾机器人/元操作系统Key words
multi-robot system/communication and programming framework/fog robot/meta Operating System(OS)分类
计算机与自动化引用本文复制引用
彭龙,高元钧,刘晓东,余杰..群体机器人系统通信编程框架综述[J].计算机工程,2025,51(10):37-52,16.基金项目
国家自然科学基金(61872377) （61872377）
湖南省科技创新计划项目(2021GK2001) （2021GK2001）
天津市自然科学基金重点项目(22JCZDJC00420). （22JCZDJC00420）
