The Mobile-R System
Mobile-R is a mobile agent-based robot control and deployment platform
for mission-based virtual and physical networked multi-robot systems.
Mobile-R is highly extensible and reconfigurable and
follows the multi-agent standards of the Foundation for
Intelligent Physical Agents (FIPA).
It allows for the implementation of architectures popularly used in the
different multi-robot paradigms.
Mobile-R is based on widely accepted standards for multi-agent
interaction allowing for interoperability with other multi-agent system
Using mobile agents provides innate fault-tolerance by using the mobile
agents' ability to migrate to different hosts.
Mobile-R contains all of the salient features of an ideal robot
middleware.
The system is based on the standard C/C++ programming language and
provides a simple interface for extending functionality to reduce
the computational and programing efforts and it is easy to use.
Since Mobile-R is based on C/C++, the system can easily be
extended and existing C/C++ based software can quickly be integrated
into the system.
Mobile agents provide a mechanism for rapid reprogrammability of a
system and migration capability between virtual robots in a
simulated environment and and real-world physical systems.
Mobile-R utilizes Mobile-C as it
mobile agent system.
Mobile-C is an IEEE FIPA standard compliant mobile agent
system that was initially implemented as a standalone application with the
primary intention of fitting into applications with networked mechatronic
and embedded systems involving low-level hardware.
In order to provide distributed applications with significant code mobility,
a Mobile-C library was developed that allows Mobile-C to
be embedded into applications to support C/C++ mobile agents.
The Mobile-C library is an implementation of the IEEE FIPA compliant mobile
agent system using Ch, an embeddable C/C++ interpreter, as its agent
execution engine.
Mobile-C agents are structured as C/C++ code wrapped in XML for ease in
portability and flexibility.
Sample Applications:
Planetary Reconnaissance
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