Towards a Generic Software Architecture for a Service Robot Controller

Abstract

Embedded computer control systems rely on software for performing their functions. These systems are essentially real-time systems and traditionally the research on these systems has been focused on functionality and performance. However, quality attributes as modifiability, portability, etc. are very important for developing high quality computer control software. One way of rising high quality is based on the study of software architectures. In this work, we present the followed process to obtain a reference architecture of a robot controller for a teleoperated service robot. To achieve this goal, we have followed an architecture-based development process using UML, a standard notation for the design of static and dynamic properties of systems. Copyrigh © 2002 IFAC.

Software architecture for interactive robot teleoperation

“…This system, called Wally, supports a pan/tilt webcam, affording detailed views of the seafloor sediments and local sea life. The authors in [2] present GOYA, a teleoperated system for blasting applied to hull cleaning in ship maintenance. The authors followed the COMET methodology for designing the systems' classes in order to design the robots' control units.…”