An integrated multi-robot system (IMRS) consists of two or more robots, machinery and sensors, and is capable of executing almost all industrial processes with efficiency, flexibility and reliability. In order to support a distributed, modular architecture of an IMRS in [SHIN84], we propose in this paper low-level communication and synchronization primitives for the IMRS. This is done by comparing and analyzing the primitives developed/proposed for general concurrent programming, and carefully examining the generic structure and interactions of IMRS processes.
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Shin et al. (2005) studied this question.
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