An ensemble-level programming model with real-time support for multi-robot systems

Abstract

In this paper, we propose a novel programming model RMR (Real-time programming for Multiple Robots) targeting at programming multi-robot system (MRS) with timing constraints. RMR is a logic programming model with real-time support. In the light of the logic programming paradigm, RMR allows developers to write simple code to accomplish complex tasks and deploy the program in MRS in an efficient way. Moreover, RMR supports timing constraints on the behaviors of an ensemble of robots, which is not implemented by existing works. We deploy RMR in a simulator and a test-bed to test its performance in both cyber and physical world, and then demonstrate RMR based on several applications. This paper presents our current prototype.