Modular software architecture for teams of cooperating, heterogeneous robots

Friedmann, Martin; Kiener, Jutta; Petters, Sebastian; Thomas, Dirk; Stryk, Oskar von

doi:10.1109/robio.2006.340270

Cited by 8 publications

(5 citation statements)

References 11 publications

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“…RSCA (Robot Software Communication Architecture) [60], developed in Seoul National University, is a robot middleware for networked home service robots. Skilligent Robot Behavior Learning System [61], RoboFrame [62][63][64][65], SmartSoft [66][67][68][69], iRobot AWARE [70], developed by iRobot, and ASEBA [71,72] are some examples of robotic middleware platforms. RoboFrame [62][63][64][65] is an OO middleware developed using C++.…”

Section: Robot Softwarementioning

confidence: 99%

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Elkady

Sobh

2012

Journal of Robotics

171

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Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.

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Section: Robot Softwarementioning

confidence: 99%

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Elkady

Sobh

2012

Journal of Robotics

171

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“…• Heterogeneity is the ability to have different robots with different sensors, applications, and functions, share tasks and information with each other [18]. Most of the non-service-based systems for inter-robot applications depend on the collaborative function to be implemented.…”

Section: B Service-based Systemmentioning

confidence: 99%

Service-Oriented Architecture: On the suitability for mobile robots

Alnounou

Haidar

Paulik

et al. 2010

2010 IEEE International Conference on Electro/Information Technology

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Cooperative mobile robots have recently been gaining importance within the field of robotics. It's been proven that collaborative robots can do tasks in a faster and more reliable manner than a single robot can. Additionally, recent advances in distributed coordination algorithms have dramatically improved the feasibility and suitability of cooperative approaches. This has lead researchers to develop Inter-robot communication frameworks. While several frameworks have been introduced, one of the most common is the Service-Oriented Architecture (SOA). However, the suitability of SOA for collaborative robotic communication has not been fully evaluated. In this paper we evaluate the SOA from an overhead perspective against non service-based architectures in a wireless environment. Our evaluation is based on performance suitability, which is determined by measuring throughput and delay for different numbers of mobile robots sharing real time data.

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“…One drawback of the method is that this process must be done offline and it does not permit online adjustments. Communication between the Darmstadt Dribblers humanoid robots is used for modelling and behaviour planning (Friedmann et al, 2006). The change of positions of opponents or team members can be realized.…”

Section: Literature Reviewmentioning

confidence: 99%