BERRA: a research architecture for service robots

Lindström, M.; Orebäck, Anders; Christensen, Henrik I.

doi:10.1109/robot.2000.845168

Cited by 48 publications

(15 citation statements)

References 4 publications

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“…Saphira (Konolige et al, 1997) is a robot control system with integrated routines for sonar sensor interpretation, map-building and navigation. The system TeamBots by Balch (2013) was used for single-and multi-agent mobile robotics while BERRA (Behaviour based Robot Research Architecture) (Lindström et al, 2000), the most complex system of these three, was designed for goals of scalability and flexibility (Orebäck and Christensen, 2003). The aim of their study was to give an overview of existing architectures.…”

Section: Software Architecturementioning

confidence: 99%

Mobile sensor platforms: categorisation and research applications in precision farming

Zecha

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Claupein

2013

J. Sens. Sens. Syst.

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Abstract. The usage of mobile sensor platforms arose in research a few decades ago. Since the beginning of satellite sensing, measurement principles and analysing methods have become widely implemented for aerial and ground vehicles. Mainly in Europe, the United States and Australia, sensor platforms in precision farming are used for surveying, monitoring and scouting tasks. This review gives an overview of available sensor platforms used in recent agricultural and related research projects. A general categorisation tree for platforms is outlined in this work. Working in manual, automatic or autonomous ways, these ground platforms and unmanned aircraft systems (UAS) with an agricultural scope are presented with their sensor equipment and the possible architectural models. Thanks to advances in highly powerful electronics, smaller devices mounted on platforms have become economically feasible for many applications. Designed to work automatically or autonomously, they will be able to interact in intelligent swarms. Sensor platforms can fulfil the need for developing, testing and optimising new applications in precision farming like weed control or pest management. Furthermore, commercial suppliers of platform hardware used in sensing tasks are listed.

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Section: Software Architecturementioning

confidence: 99%

Mobile sensor platforms: categorisation and research applications in precision farming

Zecha

Link

Claupein

2013

J. Sens. Sens. Syst.

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“…CyberBotics Webots (Michel, 2004;Webots, 2005), White Box Robotics (WhiteBoxRobotics, 2005), and Evolution Robotics' ERSP (ERSP, 2004) are excluded as commercial packages. Also excluded are BERRA (Lindstrom et al, 2000) and CLARAty (Volpe et al, 2001;Nesnas et al, 2003Nesnas et al, , 2006 due to download unavailability. Systems are also required to generalize beyond specific hardware platforms, but provide more specificity than a general framework.…”

Section: Autonomous Mobile Robot Systemsmentioning

confidence: 99%

Development environments for autonomous mobile robots: A survey

2006

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Robotic Development Environments (RDEs) have come to play an increasingly important role in robotics research in general, and for the development of architectures for mobile robots in particular. Yet, no systematic evaluation of available RDEs has been performed; establishing a comprehensive list of evaluation criteria targeted at robotics applications is desirable that can subsequently be used to compare their strengths and weaknesses. Moreover, there are no practical evaluations of the usability and impact of a large selection of RDEs that provides researchers with the information necessary to select an RDE most suited to their needs, nor identifies trends in RDE research that suggest directions for future RDE development.This survey addresses the above by selecting and describing nine open source, freely available RDEs for mobile robots, evaluating and comparing them from various points of view. First, based on previous work concerning agent systems, a conceptual framework of four broad categories is established, encompassing the characteristics and capabilities that an RDE supports. Then, a practical evaluation of RDE usability in designing, implementing, and executing robot architectures is presented. Finally, the impact of specific RDEs on the field of robotics is addressed by providing a list of published applications and research projects that give concrete examples of areas in which systems have been used. The comprehensive evaluation and comparison of the nine RDEs concludes with suggestions of how to use the results J. Kramer ( ) · M. Scheutz

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“…Abstractions are then used to isolate aspects of reality that can be tracked or predicted reliably, and to ignore other aspects (Erann 1998). (Gat 1992) and BERRA (Lindstrom, Oreback et al 2000) www.intechopen.com…”

Section: B Hybrid Approachesmentioning

confidence: 99%

“…Examples of existing systems are AuRA (Arkin 1990;Arkin and Balch 1997), Task Control Architecture (Simmons 1994), Saphira, Teambots, Smartsoft, Mobility, Player/stage , MIRO (Utz, Sablatnog et al 2002), LICA (Hu, Brady et al 1995), ORCA (Oreback and Christensen 2003), BERRA (Lindstrom, Oreback et al 2000), PeLote (Ruangpayoongsak, Roth et al 2005) …”

Section: Overview Of Software Approaches In Roboticsmentioning

confidence: 99%

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

Ganapathy¹

2010

Mobile Robots Navigation

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BERRA: a research architecture for service robots

Cited by 48 publications

References 4 publications

Mobile sensor platforms: categorisation and research applications in precision farming

Mobile sensor platforms: categorisation and research applications in precision farming

Development environments for autonomous mobile robots: A survey

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

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