OPRoS: A New Component-Based Robot Software Platform

Jang, Choulsoo; Lee, Seung-Ik; Jung, Seungwoog; Song, Byoungyoul; Kim, Rockwon; Kim, Sung Hoon; Lee, Cheol-Hoon

doi:10.4218/etrij.10.1510.0138

Cited by 88 publications

(49 citation statements)

References 15 publications

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“…1, the hardware abstraction layer and standard robot infrastructure layer construct the basic software framework of robots represented by Open Platform Robotic Services (OPRoS) [11]. The Collective Intelligence Network Management Layer supports a dynamic ad hoc mesh network configuration and efficient management under the conditions and information of the corresponding network.…”

Section: Ciros System Architecturementioning

confidence: 99%

Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

Lee¹,

Im²,

Lim³

et al. 2015

ETRI J

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In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.Keywords: Network connectivity and localization, seamless routing, cooperative localization, global positioning system, resource manager, location manager, CINeMA. Manuscript received Aug. 10, 2014; revised Dec. 11, 2014; accepted Dec. 26, 2014 I. IntroductionMultiple cooperative mobile robots performing search and rescue missions in disaster areas always require communication links to the human operator located at a remote station. However, the network infrastructure constructing the communication link is often destroyed in disaster areas; thus, a multi-hop mesh network connecting all robots and the operator station is needed for maintaining the link connectivity. In a multi-hop mesh network where the link environment is poor, the network configuration and routing of mobile robots are very important issues to guarantee the quality of service (QoS) of the communication link.Addressing these issues, J. Fink and others [1]-[2] proposed a k-connectivity method and resolved the end-to-end network connectivity problem using a probabilistic approach. In the DARPA LANdroids project [3], a self-configuring network scheme was developed, where the global network connectivity is maintained even in the case of a local connection failure. L. Sabattini and others [4]; S. Zickler and M. Veloso [5]; M.M. Zavlanos and others [6]; and N. Bezzo and others [7] analyzed the graph theoretical connectivity in mobile robot networks and developed optimization-based connectivity control methods. However, most previous approaches assumed that the network was connected within a fixed range of communication and that it relied on direct line-of-sight signals. Moreover, they used only the distance data between robots, which may not reflect the network connection information reasonably. In indoor or dynamic environments, a multi-path problem typically occurs; thus, the range information may become irregular. Therefore,

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Section: Ciros System Architecturementioning

confidence: 99%

Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

Lee¹,

Im²,

Lim³

et al. 2015

ETRI J

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“…A SW component in OPRoS is reusable and we can develop robot application easily by connecting components. Additionally, we can reduce the time and cost for robot SW development [17], [18]. Since OPRoS has been applied to various robots such as iRobiQ [16], Kobot, RoboSem, DARwIn, etc., we can develop related SW for the implementation of a robot-based learning model.…”

Section: Oprosmentioning

confidence: 99%

“…Open Platform for Robotic Services (OPRoS) is a component based robot platform [17], [18]. A SW component in OPRoS is reusable and we can develop robot application easily by connecting components.…”

Section: Oprosmentioning

confidence: 99%

A Study on the Education Assistant System Using Smartphones and Service Robots for Children

Jeong

Park

You

et al. 2014

International Journal of Advanced Robotic Systems

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In this paper, we propose a new education assistant system model using both smartphones and service robots for children's learning. Through the interaction between a smartphone and a robot, various use cases can be derived. For example, we can control the movement of the robot remotely, watch the status of the children using real-time streaming, or read the answer on the smartphone while only the question is displayed on the robot. Considering these facts, we present three use cases, namely 'remote control', 'streaming' and 'N-screen' for robot-based learning with smartphones. The proposed learning model is implemented in Android-based smartphones and a service robot using the OPRoS platform, and we show that the proposed model works well. 1

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“…Marie (Mobile and Autonomous Robotics Integration Environment) [38][39][40][41] was developed by the Mobile Robotics and Intelligent Systems Laboratory, University of Sherbrooke, Canada. Orca [42][43][44], and OPRoS (Open Platform for Robotic Services) [45][46][47], designed by the IT R&D program of the Ministry of Knowledge Economy of Korea, are component-based software frameworks. The ERSP Software Development Kit [48] provides technologies for vision, navigation, and system development.…”

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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OPRoS: A New Component-Based Robot Software Platform

Cited by 88 publications

References 15 publications

Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

A Study on the Education Assistant System Using Smartphones and Service Robots for Children

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

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