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The authors propose an open hardware and software architecture for the cooperative coordination of multiple mobile robots operating in a common environment. It is designed to meet the stringent requirements of loosely coupled multi-robot architectures, such as flexibility, reliability, and fault-tolerance. As such, the proposed architecture enables the robots to deal with various types of uncertainties in their operating environments. The proposed architecture takes advantage of scalable sensory based P2P framework. It also offers an inter-robot communication protocol, which is specifically designed to satisfy the requirements of physical sensory data publishing and fusion. The architecture is implemented and evaluated on a team of indoor mobile robots. The test results manifest the architecture's distinguished features and capabilities.
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