Robot middleware architecture mediating familiarity-oriented and environment-oriented behaviors

A. Kobayashi, Y. Kono, A. Ueno, I. Kume, M. Kidode
<i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/kbgrj3whmfhlbfwffhfozdotny" style="color: black;">Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)</a> </i> &nbsp;
This paper presents a middleware architecture for personal robots applied to various environments. The architecture allows a robot to consistently integrate environment-oriented applications with its original and familiar characteristics for its user. The familiar characteristics and environment-oriented applications tend to be developed independently. However, the two kinds of functions should share sensors and actuators to generate consistent actions. To this end, we have analyzed the
more &raquo; ... ship between robot actions and their mental effects on the user, and have designed middleware, called the "mediator," to play the role of mediator by dynamically selecting either: 1) sequential execution, 2) time-sharing execution, or 3) concurrent execution. We had an experiment to simulate the mediation, and to estimate the familiarity and efficiency.
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