{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:46Z","timestamp":1754157406241,"version":"3.41.2"},"reference-count":16,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2009,1,9]],"date-time":"2009-01-09T00:00:00Z","timestamp":1231459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,1,9]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present a distributed multiple mobile robot system that provides a collaborative control and simulation environment.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A CORBA\u2010based cooperative system is designed to implement a robotic layered cooperative mechanism. The mechanism has three layers: mission, transport and execution. In order to realize a flexible and effective communication in the cooperative mechanism, an extended robot event service (federated event service) is proposed to improve the cooperative system's real time performance.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Experimentation has proved the validity and effectiveness of the system. The federated event service's latency is approximately 9 percent less than the standard event service latency when the CPU is determined.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The robotic modularized system includes the map\u2010building, path\u2010planning, robot task\u2010planning, simulation and actual robot control function modules, and uses CORBA to integrate the whole system. It is easy to implement a layered cooperative mechanism for multiple mobile robots. Given the problem on multiple robots cooperation latency, a useful extended robot event service is proposed.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper focuses on the distributed functional modular architecture, and the multiple robots cooperative layered mechanism. In the mechanism, an extended robot event service (federated event service) is proposed to reduce the cooperative system's real time latency. The conducted experiment validates the proposed system with a good performance for multiple mobile robots' cooperation.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910924657","type":"journal-article","created":{"date-parts":[[2009,1,17]],"date-time":"2009-01-17T07:03:27Z","timestamp":1232175807000},"page":"36-44","source":"Crossref","is-referenced-by-count":6,"title":["A CORBA\u2010based cooperative mobile robot system"],"prefix":"10.1108","volume":"36","author":[{"given":"Zhen","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Qixin","family":"Cao","sequence":"additional","affiliation":[]},{"given":"Lei","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Charles","family":"Lo","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021519572821500_b14","unstructured":"Brooks, A., Kaupp, T., Makarenko, A., Williams, S.B. and Oreback, A. (2006), \u201cOrca: a component model and repository\u201d, Principles and Practice of Software Development in Robotics, Springer, New York, NY."},{"key":"key2022021519572821500_b15","doi-asserted-by":"crossref","unstructured":"Colon, E., Sahli, H. and Baudoin, Y. (2006), \u201cCoRoBa, a multi mobile robot control and simulation framework\u201d, International Journal on Advanced Robotics, Vol. 3 No. 1, pp. 73\u20108.","DOI":"10.5772\/5753"},{"key":"key2022021519572821500_b5","doi-asserted-by":"crossref","unstructured":"C\u00f4t\u00e9, C., Brosseau, Y., L\u00e9tourneau, D., Ra\u00efevsky, C. and Michaud, F. (2006), \u201cRobotic software integration using MARIE\u201d, International Journal of Advanced Robotic Systems, Vol. 3 No. 1, Special Issue on Software Development and Integration in Robotics, pp. 55\u201060.","DOI":"10.5772\/5758"},{"key":"key2022021519572821500_b1","unstructured":"Gerkey, B.P., Vaughan, R.T. and Howard, A. 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(2003), \u201cPerspectives on standardization in mobile robot programming: the Carnegie Mellon Navigation (CARMEN) toolkit\u201d, Proc. IEEE\/RSJ Int. Conf. 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