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Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns

Matthias Lutz, Dennis Stampfer, Alex Lotz, Christian Schlegel
2014 Jahrestagung der Gesellschaft für Informatik  
Successfully building complex service robotic systems that robustly operate in real-world environments gives a lot of insights into what are valuable patterns in architecting such systems.  ...  In this paper, we describe some of our insights with respect to robot control architectures and robotics software systems engineering.  ...  Acknowledgements The research leading to these results has been partially funded by BMBF (iserveU 01IM12008B and FIONA 01IS13017C).  ... 
dblp:conf/gi/LutzSLS14 fatcat:he34id72pbeh5agk4bfrnldysm

Execution monitoring in robotics: A survey

Ola Pettersson
2005 Robotics and Autonomous Systems  
This survey will use the knowledge and terminology from industrial control in order to classify different execution monitoring approaches applied to robotics.  ...  Research on execution monitoring in its own is still not very common within the field of robotics and autonomous systems.  ...  The author would also like to thank Alessandro Saffiotti and Lars Karlsson for support and numerous discussions.  ... 
doi:10.1016/j.robot.2005.09.004 fatcat:jeias2probhxrixno72f2rpzva

Timeline-based Planning and Execution with Uncertainty: Theory, Modeling Methodologies and Practice [article]

Alessandro Umbrico
2019 arXiv   pre-print
solving approach; (iii) the development of a general purpose framework for planning and execution with timelines; (iv) the validation†of this approach in real-world manufacturing scenarios.  ...  This approach has been successfully applied in many real-world scenarios although a common interpretation of the related planning concepts is missing.  ...  Specifically, the chapter presents a flexible control architecture, called KBCL (Knowledge-based Control Loop), which has been applied to a real-world scenario for controlling reconfigurable manufacturing  ... 
arXiv:1905.05713v1 fatcat:m2aiw3lu7fdnplfmovalspyzoa

Execution Models [chapter]

2006 Service-Oriented Computing  
real world.  ...  They specify the control flows and data flows needed for the processes to be executed correctly.  ...  Engineering composed services thus requires capturing patterns of semantic and pragmatic constraints on how the services may participate in different compositions.  ... 
doi:10.1002/0470091509.ch10 fatcat:2jdemglma5gtre5xkxtzck45am

Refining the Execution of Abstract Actions with Learned Action Models

F. Stulp, M. Beetz
2008 The Journal of Artificial Intelligence Research  
When executing the actions, however, the robot must tailor the abstract actions to the specific task and situation context at hand.  ...  In this article we propose a novel robot action execution system that learns success and performance models for possible specializations of abstract actions.  ...  Acknowledgments We would like to thank Andreas Fedrizzi and the anonymous reviewers for their valuable remarks and suggestions.  ... 
doi:10.1613/jair.2479 fatcat:zyewqfkj4jelxeosduphs4mkk4

Execution context optimization for disk energy

Jerry Hom, Ulrich Kremer
2008 Proceedings of the 2008 international conference on Compilers, architectures and synthesis for embedded systems - CASES '08  
We evaluated real workloads by collecting user activity traces and characterizing the execution contexts. The study confirms that many users run a limited number of programs concurrently.  ...  We introduce a framework to make programs aware of and adapt to their runtime execution context.  ...  This work is a first analysis at real world multiprogramming workload opportunities and benefits for disk energy execution context optimizations. Figure 1 : 1 Sample user session trace.  ... 
doi:10.1145/1450095.1450132 dblp:conf/cases/HomK08 fatcat:sxszqy3b2jdqthfmyvcnbux7bi

A Decentralised Software Process Approach For Real Time Navigation of Service Robots [chapter]

S. Veera, Velappa Ganapathy
2010 Mobile Robots Navigation  
Acknowledgements The authors wish to thank Monash University Sunway Campus for providing grants to purchase GPS modules, sensors, software and equipment necessary for the conduct of these experiments.  ...  The authors also wish to thank Transnoble Sdn Bhd, Kuala Lumpur for field support, streamed data, data acquisition and test communication server hosting.  ...  that this is the best type of architecture for Service Robots.  ... 
doi:10.5772/8975 fatcat:ahggz7ltw5htbg3bkwldlnymka

A Novel Decentralised Software Process Approach For Realtime Navigation Of Service Robots

S. Veera Ragavan, Velappa Ganapathy
2008 2008 IEEE Conference on Robotics, Automation and Mechatronics  
Acknowledgements The authors wish to thank Monash University Sunway Campus for providing grants to purchase GPS modules, sensors, software and equipment necessary for the conduct of these experiments.  ...  The authors also wish to thank Transnoble Sdn Bhd, Kuala Lumpur for field support, streamed data, data acquisition and test communication server hosting.  ...  that this is the best type of architecture for Service Robots.  ... 
doi:10.1109/ramech.2008.4681495 dblp:conf/ram/RagavanG08 fatcat:xmw2fqvvavfxxisx4kcrq6v7la

ERSP: a software platform and architecture for the service robotics industry

M.E. Munich, J. Ostrowski, P. Pirjanian
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper we describe the need for, and the characteristics of, a software architecture for commercial robotic products.  ...  It follows a hybrid model of data flow, combining behavior-based processing modules for real-time reactions with event-based task planning routines.  ...  ERSA allows for building task-achieving modules that make decisions and control the robot, for orchestrating coordination and execution of these modules, and for controlling access to system resources.  ... 
doi:10.1109/iros.2005.1545468 dblp:conf/iros/MunichOP05 fatcat:cva5frrzyrenlfmyqg7ylyxsci

A flexible control architecture for extended autonomy of robotic assistants

Christopher King, Xavier Palathingal, Monica Nicolescu, Mircea Nicolescu
2009 Journal of Physical Agents (JoPha)  
We demonstrate our approach on a Pioneer 3DX mobile robot, performing service tasks in a real-world environment.  ...  First, it enables the representation of complex, sequential and hierarchical robot tasks, typically needed for service applications, in a behavior-based framework.  ...  ACKNOWLEDGMENT This work was supported in part by NSF CAREER Award IIS-0546876 to Monica Nicolescu and by the ONR Award N00014-06-1-0611.  ... 
doi:10.14198/jopha.2009.3.2.09 fatcat:jszcca6ejfbbnco2opzl5bgwym

Analyzing standardization needs for applying agent technology in industrial environments

Paulo Leitao, Thomas Strasser
2016 2016 IEEE 25th International Symposium on Industrial Electronics (ISIE)  
Multi-agent systems can play an important role in the realization of cyber-physical systems by providing intelligence, flexibility, robustness, self-adaptation, and selforganization to them.  ...  Beside other issues, standardization is being identified as a critical aspect for this status and requires the need to be compliant with existing industrial practices but also a special effort to influence  ...  fruitful discussions and participation in the IEEE P2660.1 Working Group.  ... 
doi:10.1109/isie.2016.7744984 dblp:conf/isie/LeitaoS16 fatcat:hpkaqdmltvcftekto3vcx5re5q

Software Architecture for Mobile Robots [article]

Henrik Andreasson, Giorgio Grisetti, Todor Stoyanov, Alberto Pretto
2022 arXiv   pre-print
This task has been explored extensively in the context of mobile robots, resulting in a plethora of reference designs and implementations.  ...  A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort.  ...  Orocos -Bruyninckx (2001) Real-time control of robots and machine tools, component based and can be used in combination with ROS.  ... 
arXiv:2206.03233v1 fatcat:co5n5q4jsnbkpeuvxowm6kmuvi

A multi-robot platform for mobile robots — A novel evaluation and development approach with multi-agent technology

Sebastian Rockel, Denis Klimentjew, Jianwei Zhang
2012 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)  
In the field of robotics, typical, single-robot systems encounter limits when executing complex tasks.  ...  Nevertheless, well developed systems for robotics and for the cognitive and distributive domain are available. What is missing is the common link between these two domains.  ...  A practical scenario would most likely benefit from a mixed control design. When formations are required for a task, the design has to focus on the question of loosely or tight-coupled robot teams.  ... 
doi:10.1109/mfi.2012.6343020 dblp:conf/mfi/RockelK012 fatcat:zjatutsm6fgplk5vyntlv3m3ae

ISROBOTNET: A testbed for sensor and robot network systems

Marco Barbosa, Alexandre Bernardino, Dario Figueira, Jose Gaspar, Nelson Goncalves, Pedro U. Lima, Plinio Moreno, Abdolkarim Pahliani, Jose Santos-Victor, Matthijs T. J. Spaan, Joao Sequeira
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper introduces a testbed for sensor and robot network systems, currently composed of 10 cameras and 5 mobile wheeled robots equipped with several sensors for self-localization, obstacle avoidance  ...  as decision-theoretical approaches to sensor selection and task allocation within the sensor network.  ...  The synthesis of controllers for the execution of tasks by the mobile robots is accomplished using a Partially Observable Markov Decision Process (POMDP) [29] .  ... 
doi:10.1109/iros.2009.5354231 dblp:conf/iros/BarbosaBFGGLMPSSS09 fatcat:lexshqxoizd73nqjm6woaojusy

Mobile manipulation for planetary exploration

Peter Lehner, Sebastian Brunner, Andreas Domel, Heinrich Gmeiner, Sebastian Riedel, Bernhard Vodermayer, Armin Wedler
2018 2018 IEEE Aerospace Conference  
The architecture is centered around a flexible, scalable world model to record and represent the environment of the robot.  ...  An autonomous task control framework and a versatile constraint motion planner use the live information from the world model to steer the rover through complex manipulation tasks.  ...  The rover is steered by our autonomous task control software with an architecture design centered around a flexible world model.  ... 
doi:10.1109/aero.2018.8396726 fatcat:jyku7kug3bhbri7i65aicidaoa
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