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This paper presents a multi-robot service system prototype that utilizes Aggregate Programming (AP) for coordination, addressing the challenges of building resilient, distributed robotic systems. The system was designed and implemented using AP to manage the complexities of multi-robot coordination in physical environments with proximity-based communication. Validation through simulations and real-world tests in a university library demonstrates the feasibility and potential of AP for multi-robot service applications.
Aggregate Programming offers a practical approach to designing resilient multi-robot systems, simplifying the complexities of coordination in real-world environments.
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities of the physical nature of robots and their environments to those inherent in coordinating any distributed (multi-agent) system. Aggregate Programming (AP) has recently emerged as a promising approach to engineering resilient, distributed systems with proximity-based communication, and is notably supported by practical frameworks. In this paper we present a prototype of a multi-robot service system, which adopts AP for the design and implementation of its coordination software. The prototype has been validated both with simulations, and with tests in a University library.
