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Modular software architecture for teams of cooperating, heterogeneous robots

Martin Friedmann, Jutta Kiener, Sebastian Petters, Dirk Thhomas, Oskar von Stryk
2006 2006 IEEE International Conference on Robotics and Biomimetics  
For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor  ...  and heterogeneous robots and computers using wireless network.  ...  RESULTS, SUMMARY AND OUTLOOK A modular and flexible software framework has been developed for teams of cooperating, autonomous robots characterized through heterogeneous hardware, lightweight robot design  ... 
doi:10.1109/robio.2006.340270 dblp:conf/robio/FriedmannKPTS06 fatcat:mwxpovkjwfeuhi74mph24rtoky

Integration framework for interoperability of distributed and heterogeneous robot middlewares

Janarbek Matai, Young-Ho Suh, Hyuongsun Kim, Kang-Woo Lee, Hyun Kim
2008 2008 10th International Conference on Control, Automation, Robotics and Vision  
This paper describes the ongoing development of a software framework for supporting interoperability and integration among heterogeneous network-based robotic development frameworks.  ...  for developing network based robotic systems.  ...  It leads building modularized robotic software components(RSC) that is dependent on a specific RSDF.  ... 
doi:10.1109/icarcv.2008.4795898 dblp:conf/icarcv/MataiSKLK08 fatcat:st7p2ywyjfbbzck24ghmx3vfi4

Survey on Decentralized Modular Robots and Control Platforms [chapter]

Tamer AbuKhalil, Tarek Sobh, Madhav Patil
2014 Lecture Notes in Electrical Engineering  
We present a preliminary taxonomy for swarm robotics and classify existing studies into this taxonomy.  ...  In other words, we provide a detailed summary of systems that have been classified under four main categories of the general multi-robot system platforms, namely: selfreconfigurable, modular, self-replicating  ...  However, there is a lack of software packages which provide control for various platforms of robots individually and allow concurrent control of heterogeneous robotic teams.  ... 
doi:10.1007/978-3-319-06773-5_23 fatcat:66yjyqlwn5cdjn7yfrm7sx2pia

Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms [article]

S. Kernbach, F. Schlachter, R. Humza, J. Liedke, S. Popesku, S. Russo, T. Ranzani, L. Manfredi, C. Stefanini, R. Matthias, Ch. Schwarzer, B. Girault, P. Alschbach (+2 others)
2011 arXiv   pre-print
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems.  ...  We introduce challenges for self-reconfigurable systems, show advances of mechatronic and software design of heterogeneous platforms and discuss experiments, which intend to demonstrate usability and performance  ...  Additionally, we want to thank all members of the projects for their cooperation and fruitful discussions.  ... 
arXiv:1109.2288v1 fatcat:wx2nhk7nx5cbrdti2gzx3u7v44

A Software Architecture For Modular Robotic Systems

S. Ariffin, R.H. Weston, R. Harrison
1994 Jurnal Teknologi  
Current investigation is focused on defining models of application tasks in modular robotic systems.  ...  Also discussed in this paper is a strategy for achieving sensor-based modularization of modular robotic systems in a manner which facilitates fast and efficient response to changes in the functional or  ...  The software is being built in a modular and layered fashion, in conformance to the proposed functional task architecture.  ... 
doi:10.11113/jt.v24.1084 fatcat:d7z6jorauja65ocmz6fxrnftfm

Automated Scheduling of Multi-Robot System Missions: An Architectural Perspective (short paper)

Gricel Vazquez
2021 European Conference on Software Architecture  
The doctoral project summarised in this paper proposes a modular software architecture for the scheduling of multi-robot system (MRS) missions with complex functional and nonfunctional requirements.  ...  The new architecture comprises separate components for maintaining specifications of the mission tasks, environment and robot capabilities, for allocating the required tasks to the available robots, for  ...  Developing a software solution for this complex, multifaceted problem requires a modular, flexible software architecture.  ... 
dblp:conf/ecsa/Vazquez21 fatcat:ljfcahra6rhv3guvk6pyidxoka

Robotic frameworks, architectures and middleware comparison [article]

Emmanouil Tsardoulias, Pericles Mitkas
2017 arXiv   pre-print
Additionally, we try to investigate the differences between the definitions of a robotic framework, a robotic middleware and a robotic architecture.  ...  It is reasonable that a single researcher cannot create from scratch the entirety of this system, as it is impossible for him to have the necessary skills in the necessary fields.  ...  RoboFrame is described as a modular software framework for lightweight autonomous robots in [67] .  ... 
arXiv:1711.06842v1 fatcat:mogblqqvuzf2rbi7zchh66g5ta

Middleware for Robotics: A Survey

Nader Mohamed, Jameela Al-Jaroodi, Imad Jawhar
2008 2008 IEEE Conference on Robotics, Automation and Mechatronics  
heterogeneous hardware.  ...  This middleware provides a unified model for different configurations of external sensors on a service mobile robot.  ...  While in other cases, the existence of multiple robots that have heterogeneous resources provides a great opportunity to redirect tasks to the robot with the most suitable resources.  ... 
doi:10.1109/ramech.2008.4681485 dblp:conf/ram/MohamedAJ08 fatcat:46en3j574vhnjprj55kq6heuby

A Structured Approach for Modular Design in Robotics and Automation Environments

Ayssam Elkady, Jovin Joy, Tarek Sobh, Kimon Valavanis
2013 Journal of Intelligent and Robotic Systems  
In this paper, the RISCWare framework is proposed as a robotic middleware for the modular design of sensory modules, actuation platforms, and task descriptions.  ...  The objective is to design a middleware framework to allow a user to plug in new sensors, tasks or actuation hardware, resulting in a fully functional operational system.  ...  Architecture of the RISCWare The architecture of the middleware has six primary layers for managing the heterogeneity of the hardware and the software, and creating behaviors that will be used by many  ... 
doi:10.1007/s10846-012-9798-y fatcat:jxgf42gbonakjdcl5wemc43w2m

Multi-layered architecture of middleware for ubiquitous robot

In-Bae Jeong, Jong-Hwan Kim
2008 Conference Proceedings / IEEE International Conference on Systems, Man and Cybernetics  
This paper proposes a multi-layered architecture of middleware for ubiquitous robots. Ubiquitous robots consist of different platforms with various functions and interfaces.  ...  The proposed architecture uses context information to decouple hardware and software agents as a bridge between them.  ...  This paper proposed a multi-layered middleware architecture for ubiquitous robots, which has five layers and use context as a link between hardware components and software components for device/environment-independency  ... 
doi:10.1109/icsmc.2008.4811836 dblp:conf/smc/JeongK08 fatcat:c2tkzontrnfy7gvwvanc7wluqe

Evolutionary Modular Robotics: Survey and Analysis

Reem J. Alattas, Sarosh Patel, Tarek M. Sobh
2018 Journal of Intelligent and Robotic Systems  
A number of studies have demonstrated the feasibility of evolutionary algorithms for generating robotic control and morphology. However, a huge challenge faced was how to manufacture these robots.  ...  Evolutionary robotics aims to design autonomous adaptive robots automatically that can evolve to accomplish a specific task while adapting to environmental changes.  ...  Each robot involves distributed control and heterogeneous modular architecture. Tree like representation is used for robotic morphology to smooth the search space.  ... 
doi:10.1007/s10846-018-0902-9 fatcat:q6loxcv3evdozdn4upbuqlnfwy

A Multi-Agent Control Architecture for a Rescue Robot

Adam Haber
2021 PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE  
This research presents a novel cognitive architecture grounded in the design of a control system for an autonomous rescue robot.  ...  Cognitive architectures investigate the components and interactions neccessary for construction of an intelligent system. Despite much progress and theory, implementations of architectures are rare.  ...  Many existing architectures commit to a single form for knowledge representation or reasoning, such as production rules in ACT-R and Soar, or conceptual inference in ICARUS, but a system with heterogenous  ... 
doi:10.1609/aaai.v26i1.8183 fatcat:e2ij7g62vjhfxf6274aebifl5y

An Open-architecture Robot Controller applied to Interaction Tasks [chapter]

A. Oliveira, E. De, U. Moreno
2010 Advances in Robot Manipulators  
., 2007) is presented an open architecture for sensory feedback control of a dual-arm industrial robotic cell for cooperation tasks.  ...  Consequently, the modularity becomes fundamental for a control system to have an open-architecture (Pritschow & Altintas, 2001) .  ...  /an-open-architecture-robot-controllerapplied-to-interaction-tasks © 2010 The Author(s).  ... 
doi:10.5772/9677 fatcat:xs7tghnagjdzvelimkqp5pwp44

Concepts of a Modular System Architecture for Distributed Robotic Systems

Uwe Jahn, Carsten Wolff, Peter Schulz
2019 Computers  
Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks.  ...  The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator–Controller Module (OCM).  ...  Conceptual Model The conceptual model of a modular software architecture for distributed robotic systems is based on the presented OCM.  ... 
doi:10.3390/computers8010025 fatcat:3bdlsqehu5f5pcgdullrjexq3e

Distributed Modular Computer-Integrated Surgical Robotic Systems: Architecture for Intelligent Object Distribution [chapter]

Oliver Schorr, Nobuhiko Hata, Andrew Bzostek, Rajesh Kumar, Catherina Burghart, Russel H. Taylor, Ron Kikinis
2000 Lecture Notes in Computer Science  
and intelligent tasks in robot−assisted surgery.  ...  are satisfactory for surgical robot control.  ...  Software for the robot control is built upon a modular robot control (MRC) C/C++ library providing Cartesian control, forward and inverse kinematics, and joint control interfaces for the MR/T robot.  ... 
doi:10.1007/978-3-540-40899-4_102 fatcat:bqqztoci6nft5hvqfrhljb4yua
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