A Service Oriented Architecture supporting an autonomous mobile robot for industrial applications

doi:10.1109/MED.2010.5547736

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A Service Oriented Architecture supporting an autonomous mobile robot for industrial applications

Proceedings Article•DOI•

A Service Oriented Architecture supporting an autonomous mobile robot for industrial applications

A. Cesetti¹, C. P. Scotti, G. Di Buo, Sauro Longhi¹•Institutions (1)

Marche Polytechnic University¹

23 Jun 2010-pp 604-609

TL;DR: The design and implementation of a control system for autonomous navigation based on a Service Oriented Architecture (SOA) supporting a mobile robot suitable for industrial applications and shows good real-time performances.

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Abstract: This paper presents the design and implementation of a control system for autonomous navigation based on a Service Oriented Architecture (SOA) supporting a mobile robot suitable for industrial applications The robot is required to perform generic high-level tasks in indoor structured environments The control architecture, developed within the Microsoft Robotics Developer Studio (MRDS), allows to encapsulate the controller functionalities as a set of services that interact and exchange data among them This approach allows to guarantee flexibility, scalability and reliability The accurate testing, carried out in simulated and real environments, shows good real-time performances

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Book•

A Survey of Nonverbal Signaling Methods for Non-Humanoid Robots

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Elizabeth Cha¹, Yunkyung Kim², Terrence Fong², Maja J. Matarić¹•Institutions (2)

University of Southern California¹, Ames Research Center²

22 Feb 2018

TL;DR: This monograph presents a comprehensive review of literature related to the generation and usage of nonverbal signals that facilitate legibility of non-humanoid robot state and behavior and discusses issues that must be considered during nonverbal signaling and open research areas.

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Abstract: This monograph surveys and informs the design and usage of nonverbal signals for human-robot interaction. With robots increasingly being utilized for tasks that require them to not only operate in close proximity to humans but to interact with them as well, there has been great interest in the communication challenges associated with the varying degrees of interaction in these environments. The success of such interactions depends on robots’ ability to convey information about their knowledge, intent, and actions to co-located humans. The monograph presents a comprehensive review of literature related to the generation and usage of nonverbal signals that facilitate legibility of non-humanoid robot state and behavior. To motivate the need for these signaling behaviors, it surveys literature in human communication and psychology and outlines target use cases of non-humanoid robots. Specifically, the focus is on works that provide insight into the cognitive processes that enable humans to recognize, interpret, and exploit nonverbal signals. From these use cases, information is identified that is potentially important for non-humanoid robots to signal and organize it into three categories of robot state. The monograph then presents a review of signal design techniques to illustrate how signals conveying this information can be generated and utilized. It concludes by discussing issues that must be considered during nonverbal signaling and open research areas, with a focus on informing the design and usage of generalizable nonverbal signaling behaviors for task-oriented non-humanoid robots.

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78 citations

Cites background from "A Service Oriented Architecture sup..."

...Industrial robots, as shown in Figure 3.3, are mobile robots and manipulators that operate in industrial settings, such as factories and warehouses, to increase productivity and augment human labor [Cesetti et al., 2010, Heyer, 2010, Hvilshøj et al., 2009]....
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...Many of these robots function as transports, moving materials and products, whereas others act as specialized tools [Cesetti et al., 2010, D’Andrea, 2012, Datta et al., 2008, Liang et al., 2015]....
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Journal Article•DOI•

Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot

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Jianye Niu¹, Hongbo Wang¹, Hongmin Shi¹, Nicolae Pop², Dong Li¹, Shanshan Li¹, Shaozhen Wu¹ - Show less +3 more•Institutions (2)

Yanshan University¹, Romanian Academy²

16 Jan 2018-International Journal of Advanced Robotic Systems

TL;DR: A novel rescue robot with three-degrees of freedom leg mechanism based on the serial–parallel and wheel-legged mechanisms, which consists of two Universal joint-Prismatic joint-Spherical joint plus one Universal joint and Revolute joint serial-parallel mechanism.

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Abstract: This article presents a novel rescue robot with three-degrees of freedom leg mechanism based on the serial–parallel and wheel-legged mechanisms, which consists of two Universal joint-Prismatic join...

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27 citations

Journal Article•DOI•

Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems

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Stefano Seriani, Lorenzo Scalera, Matteo Caruso, Alessandro Gasparetto, Paolo Gallina - Show less +1 more

31 May 2019-Robotics

TL;DR: This paper proposes the mathematical modeling, simulation, and experimental validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements, with particular focus on the transitions between floor and climbing motion.

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18 citations

Cites background from "A Service Oriented Architecture sup..."

...For example, they are employed in the industrial and commercial field for material handling and stocking [1], in agriculture for inspection and monitoring [2,3], in civil contexts for cleaning operations [4], surveillance [5], proximal sensing [6], and service tasks [7], as well in space exploration and hazardous environments [8–10]....
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Journal Article•DOI•

A systematic review of applying modern software engineering techniques to developing robotic systems

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Claudia Pons¹, Roxana Silvia Giandini¹, Gabriela Arévalo²•Institutions (2)

National University of La Plata¹, National University of Quilmes²

01 Jan 2012-Revista Ingenieria E Investigacion

TL;DR: A systematic review of the current use of modern software engineering techniques for developing robotic software systems and their actual automation level is presented to identify any gaps in current research to suggest areas for further investigation and provide a background for positioning new research activities.

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Abstract: Robots have become collaborators in our daily life. While robotic systems become more and more complex, the need to engineer their software development grows as well. The traditional approaches used in developing these software systems are reaching their limits; currently used methodologies and tools fall short of addressing the needs of such complex software development. Separating robotics’ knowledge from short-cycled implementation technologies is essential to foster reuse and maintenance. This paper presents a systematic review (SLR) of the current use of modern software engineering techniques for developing robotic software systems and their actual automation level. The survey was aimed at summarizing existing evidence concerning applying such technologies to the field of robotic systems to identify any gaps in current research to suggest areas for further investigation and provide a background for positioning new research activities.

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17 citations

Journal Article•DOI•

Multi-robot data mapping simulation by using microsoft robotics developer studio

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Antonio Matta-Gómez¹, Jaime del Cerro¹, Antonio Barrientos¹•Institutions (1)

Spanish National Research Council¹

01 Dec 2014-Simulation Modelling Practice and Theory

TL;DR: This document summarizes the goals achieved in the development of a data mapping application, for a multi-robot system, implemented as a service with the guidelines found in the Service Oriented Computing paradigm (SOC).

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13 citations

Cites background from "A Service Oriented Architecture sup..."

...These simulators must be consistent with the type of concurrent and distributed processes that are typically found in a robot or in a multi-robot system; processes that allow both the execution of multiple tasks concurrently and the communication among them in a distributed approach [3]....
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References

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Open Access

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Book•

Probabilistic Robotics

[...]

Sebastian Thrun¹•Institutions (1)

Carnegie Mellon University¹

01 Jan 2005

TL;DR: This research presents a novel approach to planning and navigation algorithms that exploit statistics gleaned from uncertain, imperfect real-world environments to guide robots toward their goals and around obstacles.

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Abstract: Planning and navigation algorithms exploit statistics gleaned from uncertain, imperfect real-world environments to guide robots toward their goals and around obstacles.

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6,425 citations

Book•

Introduction to Autonomous Mobile Robots

[...]

Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza

05 Mar 2004

TL;DR: Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

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Abstract: Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.] This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

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2,414 citations

"A Service Oriented Architecture sup..." refers background in this paper

...It is primarily based on the controller found in [16] but with some important improvements....
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Journal Article•DOI•

Mobile robot localization by tracking geometric beacons

[...]

John J. Leonard¹, Hugh Durrant-Whyte¹•Institutions (1)

University of Oxford¹

01 Jun 1991

TL;DR: An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed.

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Abstract: The application of the extended Kaman filter to the problem of mobile robot navigation in a known environment is presented. An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed. The algorithm is based on an extended Kalman filter that utilizes matches between observed geometric beacons and an a priori map of beacon locations. Two implementations of this navigation algorithm, both of which use sonar, are described. The first implementation uses a simple vehicle with point kinematics equipped with a single rotating sonar. The second implementation uses a 'Robuter' mobile robot and six static sonar transducers to provide localization information while the vehicle moves at typical speeds of 30 cm/s. >

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1,394 citations

"A Service Oriented Architecture sup..." refers methods in this paper

...D. Feature Extraction Services Extracting abstract features from attractive since it greatly reduces memory consumption and decreases SLAM computational complexity; additionally this features are more human readable....
[...]
...Related works in this area state that, in order to achieve real-time operation, a complete iteration of the used SLAM algorithm must be completed before its assigned deadline (which generally is the system’s period itself) so that, at each time slot, the robot produces a new state estimation stemming from observations carried inside that time slot....
[...]
...In our implementation, the pose feedback signal is retrieved from the current belief of the concurrent SLAM service, this leads to some interesting stability issues since the pose feedback signal is not smooth (belief updates generate “jumps” when recovering from high pose uncertainty situations)....
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...E. SLAM Figure 5 focuses on services related to SLAM....
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...Such approach poses great constraints to both, by the same reason, state estimation frequency and computational complexity of SLAM algorithm....
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Proceedings Article•DOI•

Simultaneous map building and localization for an autonomous mobile robot

[...]

John J. Leonard¹, Hugh Durrant-Whyte•Institutions (1)

Princeton University¹

03 Nov 1991

TL;DR: Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information.

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Abstract: Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information. This problem is difficult because of the following paradox: to move precisely, a mobile robot must have an accurate environment map; however, to build an accurate map, the mobile robot's sensing locations must be known precisely. In this way, simultaneous map building and localization can be seen to present a question of 'which came first, the chicken or the egg?' (The map or the motion?) When using ultrasonic sensing, to overcome this issue the authors equip the vehicle with multiple servo-mounted sonar sensors, to provide a means in which a subset of environment features can be precisely learned from the robot's initial location and subsequently tracked to provide precise positioning. >

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898 citations

"A Service Oriented Architecture sup..." refers methods in this paper

...D. Feature Extraction Services Extracting abstract features from attractive since it greatly reduces memory consumption and decreases SLAM computational complexity; additionally this features are more human readable....
[...]
...Related works in this area state that, in order to achieve real-time operation, a complete iteration of the used SLAM algorithm must be completed before its assigned deadline (which generally is the system’s period itself) so that, at each time slot, the robot produces a new state estimation stemming from observations carried inside that time slot....
[...]
...In our implementation, the pose feedback signal is retrieved from the current belief of the concurrent SLAM service, this leads to some interesting stability issues since the pose feedback signal is not smooth (belief updates generate “jumps” when recovering from high pose uncertainty situations)....
[...]
...E. SLAM Figure 5 focuses on services related to SLAM....
[...]
...Such approach poses great constraints to both, by the same reason, state estimation frequency and computational complexity of SLAM algorithm....
[...]

Proceedings Article•DOI•

A split-and-merge segmentation algorithm for line extraction in 2D range images

[...]

Geovany A. Borges, M.-J. Aldon

03 Sep 2000

TL;DR: A segmentation method for line extraction in 2D range images using a prototype-based fuzzy clustering algorithm in a split-and-merge framework that aims to be used in mobile robots navigation systems for dynamic map building.

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Abstract: This paper presents a segmentation method for line extraction in 2D range images. It uses a prototype-based fuzzy clustering algorithm in a split-and-merge framework. The split-and-merge structure allows one to use the fuzzy clustering algorithm without any previous knowledge on the number of prototypes. This algorithm aims to be used in mobile robots navigation systems for dynamic map building. Simulation results show its good performance compared to some classical approaches.

...read moreread less

124 citations