The concurrence of social robots with different functionalities and cyber-physical systems in indoor environments has recently been increasing in many fields, such as medicine, education, and industry. In such scenarios, the collaboration of such heterogeneous robots demands effective communication for task completion. The concept of the Internet of Robotic Things (IoRT) is introduced as a potential solution, leveraging technologies like Artificial Intelligence, Cloud Computing, and Mesh Networks. This paper proposes an IoRT-based middleware that allows the communication of different types of robot operating systems in dynamic environments, using a cloud-based protocol. This middleware facilitates task assignment, training, and planning for heterogeneous robots, while enabling distributed communication via WiFi. The system operates in two control modes: local and cloud-based, for flexible communication and information distribution. This work highlights the challenges of current communication methods, particularly in ensuring information reach, agility, and handling diverse robots. To demonstrate the middleware suitability and applicability, an implementation of a proof-of-concept is shown in a touristic scenario where several guide robots can collaborate by effectively sharing information gathered from their heterogeneous sensor systems, with the aid of cloud processing or even internal communication processes. Results show that the performance of the middleware allows real-time applications for heterogeneous multi-robot systems in different domains.

Emil Cuadros Zegarra

Dennis Barrios Aranibar

Yudith Cardinale

Journal of Sensor and Actuator Networks

Journal of Sensor and Actuator Networks (ISSN 2224-2708) is an international open access journal on the science and technology of sensor and actuator networks. It publishes regular research papers, reviews (including comprehensive reviews on complete sensor and actuator networks), and short communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.

The Journal of Sensor and Actuator Networks is an international open access journal dedicated to the science and technology of sensor and actuator networks. It publishes regular research papers, reviews (including comprehensive reviews on complete sensor and actuator networks), and short communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There are no restrictions on the length of the papers, and full experimental details must be provided to ensure that the results can be reproduced.

《Journal of Sensor and Actuator Networks》是一本国际开放获取期刊，专注于传感器和执行器网络的科学与技术。期刊发表常规研究论文、综述（包括对完整传感器和执行器网络的综合评述）以及简短通讯。我们的目标是鼓励科学家尽可能详细地发布他们的实验和理论结果。对论文的长度没有限制，必须提供完整的实验细节，以便结果能够被复现。

IoRT-Based Middleware for Heterogeneous Multi-Robot Systems

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Journal Info

Category	Quartile
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