Ambiente ciber-físico para a execução de tarefas cooperativas em um sistema multirrobô

Abstract

The use of cyber-physical systems (CPS) characterizes the fourth industrial revolution. Such systems propose a more integrated and intelligent industrial production since they combine real and virtual elements using computing and communication structures. This work aims to develop a cyber-physical system composed of software agents to support the use of a low-cost multi-robot system (SMR) in the execution of cooperative tasks. A virtual layer was added for sensory complementation of the developed robots since the robots used have limited hardware. For exchanging information between the CPS agents and the SMR, the framework Robot Operating System (ROS) is used as a communication intermediary. This dissertation builds an experimental environment inspired by Industry 4.0 scenarios to establish the cooperative tasks that the SMR must perform and to characterize the real environment in which the robots are inserted. On the other hand, the developed CPS inserts virtual characteristics in the scenarios, allowing the realization of varied and dynamic experiments. In this way, several different experiments are carried out to demonstrate the ability of the SMR to support the execution of cooperative tasks in a homogeneous and/or heterogeneous SMR. The results show that the developed CPS and SMR reach the proposed objectives and are flexible for implementing new tasks, experiments, and their integration in new real and/or virtual scenarios.