Development of a Software Platform for Software-Defined Robot

In this paper, we propose a software platform to realize a Software-Defined Robot (SDRobot) for a large number of mobile robots performing exploration and base construction. To develop a platform that adapts to unknown environments by utilizing the redundancy of multi-robot systems and changing functionality through software, we extended the robot middleware OpenRTM-aist with a dynamic module allocation function and an automatic recovery function. The extended functions provide the foundation for a system that adapts to the environment by changing the software configuration depending on the status of resources such as control computers and the state of communication between robots. In this paper, we show an example of constructing a system with multiple RED mobile robots and confirmed the operation of the extended functions.