Semantic-Aware Real-Time Scheduling in Robotics

Mastrogiovanni, Fulvio; Paikan, Ali; Sgorbissa, Antonio

doi:10.1109/tro.2012.2222273

Cited by 16 publications

(8 citation statements)

References 53 publications

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“…2. The second is represented by an a priori assignment of actions to humans or robots, which is due to different capabilities as far as object manipulation is concerned, in a way maybe similar to what has been done in [34]. An on the fly assignment to the human or the robot reflecting the corresponding capabilities would increase to a great extent the flexibility of the cooperation process.…”

Section: Discussionmentioning

confidence: 99%

Flexible human–robot cooperation models for assisted shop-floor tasks

et al. 2018

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The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet unreached is the design of flexible robots able to deal at all levels with humans' intrinsic variability, which is not only a necessary element for a comfortable working experience for the person, but also a precious capability for efficiently dealing with unexpected events. In this paper, a sensing, representation, planning and control architecture for flexible human-robot cooperation, referred to as FlexHRC, is proposed. FlexHRC relies on wearable sensors for human action recognition, AND/OR graphs for the representation of and reasoning upon cooperation models, and a Task Priority framework to decouple action planning from robot motion planning and control.

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Section: Discussionmentioning

confidence: 99%

Flexible human–robot cooperation models for assisted shop-floor tasks

et al. 2018

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“…In addition, and, more importantly, it allows for remote configuration of Quality of Service (QoS) and for run time, dynamic prioritization of communication channels. Configuring real-time properties such as priority or scheduling policy of the user thread can be done either programmatically from the user code or automatically using component middleware functionalities and dedicated tools (Mastrogiovanni et al, 2013).…”

Section: Increasing Determinism In Distributed Applicationsmentioning

confidence: 99%

The iCub Software Architecture: Evolution and Lessons Learned

et al. 2016

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The complexity of humanoid robots is increasing with the availability of new sensors, embedded CPUs, and actuators. This wealth of technologies allows researchers to investigate new problems like multi-modal sensory fusion, whole-body control and multimodal human-robot interaction. Under the hood of these robots, the software architecture has an important role: it allows researchers to get access to the robot functionalities focusing primarily on their research problems and supports code reuse to minimize development and debugging, especially when new hardware becomes available. But more importantly, it allows increasing the complexity of the experiments that can be carried out before system integration becomes unmanageable, and debugging draws more resources than research itself. In this paper, we illustrate the software architecture of the iCub humanoid robot and the software engineering best practices that have emerged driven by the needs of our research community. We describe the latest development of the middleware supporting interface definition and automatic code generation, logging, ROS compatibility, and channel prioritization. We show the robot abstraction layer and how it has been modified to better address the requirements of the users and to support new hardware as it became available. We also describe the testing framework, and we have recently adopted for developing code using a test-driven methodology. We conclude the paper discussing the lessons we learned during the past 11 years of software development on the iCub humanoid robot.

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“…Real-time properties and QoS attributes can be configured at different scopes, i.e., user thread, dedicated communication thread and data packets. Configuring real-time properties such as priority or scheduling policy of the user thread can be done either programmatically from the user code or automatically using component middleware functionalities and dedicated tools [8] (although this is beyond the scope of this paper).…”

Section: Integration Of Priority Qos In Yarpmentioning

confidence: 99%

Communication channel prioritization in a publish-subscribe architecture

Paikan

Domenichelli

Natale

2015

2015 IEEE 8th Workshop on Software Engineering and Architectures for Realtime Interactive Systems (SEARIS)

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Real-Time communication is important in distributed applications when timing constraints on task execution and data processing play a fundamental role. Software engineering does not yet specify how real-time properties should be integrated into a publish/subscribe middleware. This article describes an approach for integration of priority Quality of Service (QoS) in a publish/subscribe middleware.The basic idea is to leverage the operating system functionalities to provide a framework where specific communication channels can be prioritized at run-time. This paper presents an implementation of our approach in the YARP (Yet Another Robot Platform) open source middleware and a preliminary experimental evaluation of its performance.

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Semantic-Aware Real-Time Scheduling in Robotics

Cited by 16 publications

References 53 publications

Flexible human–robot cooperation models for assisted shop-floor tasks

Flexible human–robot cooperation models for assisted shop-floor tasks

The iCub Software Architecture: Evolution and Lessons Learned

Communication channel prioritization in a publish-subscribe architecture

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