A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications

(in lingua inglese)

In this paper, Agriture, a new architecture to implement an agricultural multirobotic system has been introduced. In Agriture, Player/Stage is in charge of the hardware (real or simulated) abstraction. The coordination and cooperation tasks rely on JADE whereas the implicit communication is assigned to HLA. They have been selected to improve the reusability, scalability and interoperability of system. Furthermore, the use of Agriture has been introduced either in real or simulated environments. It can be used in real applications or it can be applied to simulate experiments. In addition, the proposed architecture can be used in hybrid systems in which real and simulated elements (devices and environments) can interact.