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A generic architecture for a class of distributed robotic systems ispresented. The architecture supports openness and heterogeneity, i.e.heterogeneous components may be joined and removed from the systems withoutaffecting its basic functionality. The architecture is based on the paradigm ofService Oriented Architecture (SOA), and a generic representation (ontology) ofthe environment. A device (e.g. robot) is seen as a collection of itscapabilities exposed as services. Generic protocols for publishing,discovering, arranging services are proposed for creating composite servicesthat can accomplish complex tasks in an automatic way. Also generic protocolsfor execution of composite services are proposed along with simple protocolsfor monitoring the executions, and for recovery from failures. A softwareplatform built on a multi-robot system (according to the proposed architecture)is a multi-agent system.

SO-MRS: a multi-robot system architecture based on the SOA paradigm and ontology