IRGS protocol based mobile service robot positioning and multi-robot collaboration for smart home

The collaboration between mobile service robots and household appliances in smart home is proposed based on IGRS protocol. By defining a series of protocol standards, Intelligent Grouping and Resource Sharing (IGRS) protocol supports auto-discovery, dynamic networking, resources sharing and collaborative service among multiple intelligent information devices. Two dimensional and three-dimensional positioning approaches are designed for mobile robots to implement assigned tasks in specific work paths. Zigbee modules and IGRS protocol are used to realize robots' location awareness, thereby achieving the collaboration among different intelligent devices. Multi-robot collaborative strategies are proposed. During the process of collaboration, grouping strategy can enhance the efficiency of resource usage and promote the accomplishment of tasks and it consists of 5 steps. Delegation is an important strategy of coordinated control. For each robot, the delegation should be implemented on the basis of robots' capability list.