title: micROS: a morphable, intelligent and collective robot operating system.
abstract: Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe-orient-decide-act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Xuejun
authors.initials: X
authors.lastname: Yang
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Huadong
authors.initials: H
authors.lastname: Dai
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Xiaodong
authors.initials: X
authors.lastname: Yi
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Yanzhen
authors.initials: Y
authors.lastname: Wang
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Shaowu
authors.initials: S
authors.lastname: Yang
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Bo
authors.initials: B
authors.lastname: Zhang
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Zhiyuan
authors.initials: Z
authors.lastname: Wang
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Yun
authors.initials: Y
authors.lastname: Zhou
authors.affiliation: State Key Laboratory of High Performance Computing (HPCL), Computer School, National University of Defense Technology, 137 Yanwachi Street, Changsha, China.
authors.forename: Xuefeng
authors.initials: X
authors.lastname: Peng
keywords: Collective intelligence; OODA; Robot operating system; micROS