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The Acromovi Architecture
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This book focuses on the development of a system in which a team of heterogeneous mobile robots can cooperate to perform a wide range of tasks. In order that a group of heterogeneous robots can cooperate among them, one of the most important parts to develop is the creation of an architecture which gives support for the cooperation. In order to validate that architecture, some cooperative applications have been implemented. The first one is an application where a group of robots must cooperate in order to safely navigate through an unknown environment. The second cooperative application consists of enabling the team of heterogeneous robots to create certain formations and navigate maintaining those formations. Finally, in an attempt to facilitate access to the robots of the team and to the information that their accessories provide, a system for the teleoperation of the team has been implemented. This system can be used for teaching robotics or to facilitate the tasks of programming and debugging in the research tasks.
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