scholarly journals A Framework and Architecture for Multi-Robot Coordination

2002 ◽  
Vol 21 (10-11) ◽  
pp. 977-995 ◽  
Author(s):  
Rafael Fierro ◽  
Aveek Das ◽  
John Spletzer ◽  
Joel Esposito ◽  
Vijay Kumar ◽  
...  
Keyword(s):  
Formation Control ◽  
Autonomous Robots ◽  
Software Systems ◽  
Software Framework ◽  
Cooperative Localization ◽  
Parallel Composition ◽  
Autonomous Operation ◽  
Localization And Mapping ◽  
Formal Definitions ◽  
Experimental Testbed

In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up development of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.

scholarly journals Modelling Software Architecture for Visual Simultaneous Localization and Mapping

Automation ◽  
2021 ◽  
Vol 2 (2) ◽  
pp. 48-61
Author(s):  
Bhavyansh Mishra ◽  
Robert Griffin ◽  
Hakki Erhan Sevil
Keyword(s):  
System Integration ◽  
Ad Hoc ◽  
Simultaneous Localization And Mapping ◽  
Software Systems ◽  
Model Driven ◽  
Performance Improvements ◽  
Software Model ◽  
Localization And Mapping ◽  
Stereo Cameras ◽  
Core Components

Visual simultaneous localization and mapping (VSLAM) is an essential technique used in areas such as robotics and augmented reality for pose estimation and 3D mapping. Research on VSLAM using both monocular and stereo cameras has grown significantly over the last two decades. There is, therefore, a need for emphasis on a comprehensive review of the evolving architecture of such algorithms in the literature. Although VSLAM algorithm pipelines share similar mathematical backbones, their implementations are individualized and the ad hoc nature of the interfacing between different modules of VSLAM pipelines complicates code reuseability and maintenance. This paper presents a software model for core components of VSLAM implementations and interfaces that govern data flow between them while also attempting to preserve the elements that offer performance improvements over the evolution of VSLAM architectures. The framework presented in this paper employs principles from model-driven engineering (MDE), which are used extensively in the development of large and complicated software systems. The presented VSLAM framework will assist researchers in improving the performance of individual modules of VSLAM while not having to spend time on system integration of those modules into VSLAM pipelines.

Intelligent Content Driving of Engineering Model System in Modeling Platform

2020 ◽  
Author(s):  
László Horváth
Keyword(s):  
Situation Awareness ◽  
Model System ◽  
Software Systems ◽  
Engineering Model ◽  
Academic Organizations ◽  
Autonomous Operation ◽  
Modeling Software ◽  
High Level ◽  
Engineering Modeling ◽  
Component Models

Engineering modeling software systems have been developed during a long integration process from separated partial solutions to current modeling software platforms (MSPs). MSP is expected to provide all necessary model creation and application capabilities during integrated innovation and the life cycle of commercial and industrial products (CIP). Recently, advanced CIP is operated by component systems organized within an increasingly autonomous cyber physical system (CPS). CIP is represented by the engineering model system (EMS). EMS is driven by active contexts between the outside world and EMS, between component models of EMS, and between objects in a component model. EMS reacts to any new contribution using all formerly represented contexts. Consistent structure of contexts gives autonomous operation capability for EMS. Active contexts between the outside world and EMS make EMS sensitive to outside world changes. In the other direction, EMS can generate advice for the outside world using high level and well-organized active knowledge as context. Contributing to research in key issues around EMS and the relevant software technology, this paper introduces results in requirements against MSP capabilities to represent intelligent driving content (IDC) in EMS. A novel organized structure of IDC and continuous engineering (CE) aspects of IDC development are explained and discussed placing the main emphasis on situation awareness. Finally, a new concept is introduced in which purposeful EMS acts as the only media in communication of researchers. Specially configured MSP facilitates participation from industrial, institutional, and academic organizations. The research proceeds at the Laboratory of Intelligent Engineering Systems (IESL) in the organization of the Óbuda University.

Run-Time Compositional Software Platform for Autonomous NXT Robots

2019 ◽  
pp. 649-662
Author(s):  
Ning Gui ◽  
Vincenzo De Florio ◽  
Chris Blondia
Keyword(s):  
Autonomous Robots ◽  
Software Systems ◽  
Robot System ◽  
Unstructured Environments ◽  
System A ◽  
Adaptive Middleware ◽  
Context Knowledge ◽  
Run Time ◽  
Compositional Software ◽  
Robotic Applications

Autonomous Robots normally perform tasks in unstructured environments, with little or no continuous human guidance. This calls for context-aware, self-adaptive software systems. This paper aims at providing a flexible adaptive middleware platform to seamlessly integrate multiple adaptation logics during the run-time. To support such an approach, a reconfigurable middleware system “ACCADA” was designed to provide compositional adaptation. During the run-time, context knowledge is used to select the most appropriate adaptation modules so as to compose an adaptive system best-matching the current exogenous and endogenous conditions. Together with a structure modeler, this allows robotic applications' structure to be autonomously (re)-constructed and (re)-configured. This paper applies this model on a Lego NXT robot system. A remote NXT model is designed to wrap and expose native NXT devices into service components that can be managed during the run-time. A dynamic UI is implemented which can be changed and customized according to system conditions. Results show that the framework changes robot adaptation behavior during the run-time.

SIMULTANEOUS COOPERATIVE LOCALIZATION FOR AUVs USING RANGE-ONLY SENSORS

2011 ◽  
Vol 08 (02) ◽  
pp. 117-132 ◽  
Author(s):  
ALI JABAR RASHIDI ◽  
SAEED MOHAMMADLOO
Keyword(s):  
Low Cost ◽  
Autonomous Underwater Vehicles ◽  
Measurement Unit ◽  
Cooperative Localization ◽  
Position Information ◽  
Localization Accuracy ◽  
Long Baseline ◽  
Localization And Mapping ◽  
Filter Process ◽  
Sonar Sensor

The absence of GPS underwater makes navigation for autonomous underwater vehicles (AUVs) a challenge. Moreover, the use of static beacons in the form of a long baseline (LBL) array limits the operation area to a few square kilometers and requires substantial deployment effort before operations. In this paper, an algorithm for cooperative localization of AUVs is proposed. We describe a form of cooperative Simultaneous Localization and Mapping (SLAM). Each of the robots in the group is equipped with an Inertial Measurement Unit (IMU) and some of them have a range-only sonar sensor that can determine the relative distance to the others. Two estimators, in the form of a Kalman filter, process the available position information from all the members of the team and produce a pose estimate for every one of them. Simulation results are presented for a typical localization example of three AUVs formation in a large environment and indirect trajectory. The results show that our proposed method offers good localization accuracy, although a small number of low-cost sensors are needed for each vehicle, which validates that it is an economical and practical localization approach.

scholarly journals Unified Software Platform for Intelligent Home Service Robots

2020 ◽  
Vol 10 (17) ◽  
pp. 5874
Author(s):  
Jae-Bong Yi ◽  
Taewoong Kang ◽  
Dongwoon Song ◽  
Seung-Joon Yi
Keyword(s):  
General Purpose ◽  
Service Robots ◽  
Service Robot ◽  
Physical Work ◽  
Software Framework ◽  
Mobile Manipulation ◽  
Autonomous Operation ◽  
Home Service ◽  
Manipulation Robots ◽  
Human Support

Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real environment is still a tremendously difficult task. In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in tight indoor spaces; and finally detect and manipulate various household objects and pieces of furniture autonomously. The suggested software framework is designed to be easily transferred to different home service robots, which include the Toyota Human Support Robot (HSR) and our Modular Service Robot-1 (MSR-1) platforms. It has successfully been used to solve various home service tasks at the RoboCup@Home and World Robot Summit international service robot competitions with promising results.

Run-Time Compositional Software Platform for Autonomous NXT Robots

2011 ◽  
Vol 2 (2) ◽  
pp. 37-50 ◽  
Author(s):  
Ning Gui ◽  
Vincenzo De Florio ◽  
Chris Blondia
Keyword(s):  
Autonomous Robots ◽  
Software Systems ◽  
Context Aware ◽  
Robot System ◽  
System A ◽  
Adaptive Middleware ◽  
Context Knowledge ◽  
Run Time ◽  
Compositional Software ◽  
Robotic Applications

Autonomous Robots normally perform tasks in unstructured environments, with little or no continuous human guidance. This calls for context-aware, self-adaptive software systems. This paper aims at providing a flexible adaptive middleware platform to seamlessly integrate multiple adaptation logics during the run-time. To support such an approach, a reconfigurable middleware system “ACCADA” was designed to provide compositional adaptation. During the run-time, context knowledge is used to select the most appropriate adaptation modules so as to compose an adaptive system best-matching the current exogenous and endogenous conditions. Together with a structure modeler, this allows robotic applications’ structure to be autonomously (re)-constructed and (re)-configured. This paper applies this model on a Lego NXT robot system. A remote NXT model is designed to wrap and expose native NXT devices into service components that can be managed during the run-time. A dynamic UI is implemented which can be changed and customized according to system conditions. Results show that the framework changes robot adaptation behavior during the run-time.

The robot software framework ArmarX

2015 ◽  
Vol 57 (2) ◽  
Author(s):  
Nikolaus Vahrenkamp ◽  
Mirko Wächter ◽  
Manfred Kröhnert ◽  
Kai Welke ◽  
Tamim Asfour
Keyword(s):  
User Interfaces ◽  
Development Process ◽  
Humanoid Robots ◽  
Robotic Systems ◽  
Software Systems ◽  
Software Framework ◽  
Programming Environment ◽  
Robot Architecture ◽  
Pick And Place ◽  
Place Task

AbstractWith ArmarX we introduce a robot programming environment that has been developed in order to ease the realization of higher level capabilities needed by complex robotic systems such as humanoid robots. ArmarX is built upon the idea that consistent disclosure of the system state strongly facilitates the development process of distributed robot applications. We show the applicability of ArmarX by introducing a robot architecture for a humanoid system and discuss essential aspects based on an exemplary pick and place task. With several tools that are provided by the ArmarX framework, such as graphical user interfaces (GUI) or statechart editors, the programmer is enabled to efficiently build and inspect component based robotics software systems.

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