Communication architecture based on Player/Stage and sockets for cooperative guidance of robotic units

@article{Espinosa2008CommunicationAB,
  title={Communication architecture based on Player/Stage and sockets for cooperative guidance of robotic units},
  author={Felipe Espinosa and Mario Salazar and Fernando Vald{\'e}s and Antonio Bocos},
  journal={2008 16th Mediterranean Conference on Control and Automation},
  year={2008},
  pages={1423-1428}
}
This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device, of the network control system. 

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