Journal ArticleDOI
Miro - middleware for mobile robot applications
Hans Utz,S. Sablatnog,Stefan Enderle,Gerhard K. Kraetzschmar +3 more
- Vol. 18, Iss: 4, pp 493-497
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TLDR
Miro is presented, which meets the aforementioned requirements and has been ported to three different mobile platforms with little effort and provides generic abstract services like localization or behavior engines, which can be applied on different robot platforms with virtually no modifications.Abstract:
Developing software for mobile robot applications is a tedious and error-prone task. Modern mobile robot systems are distributed systems, and their designs exhibit large heterogeneity in terms of hardware, operating systems, communications protocols, and programming languages. Vendor-provided programming environments have not kept pace with recent developments in software technology. Also, standardized modules for certain robot functionalities are beginning to emerge. Furthermore, the seamless integration of mobile robot applications into enterprise information processing systems is mostly an open problem. We suggest the construction and use of object-oriented robot middleware to make the development of mobile robot applications easier and faster, and to foster portability and maintainability of robot software. With Miro, we present such a middleware, which meets the aforementioned requirements and has been ported to three different mobile platforms with little effort. Miro also provides generic abstract services like localization or behavior engines, which can be applied on different robot platforms with virtually no modifications.read more
Citations
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Edge Computing for Autonomous Driving: Opportunities and Challenges
TL;DR: In this paper, the authors review state-of-the-art approaches in these areas as well as explore potential solutions to address these challenges, including providing enough computing power, redundancy, and security so as to guarantee the safety of autonomous vehicles.
Player 2.0: Toward a Practical Robot Programming Framework
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Development environments for autonomous mobile robots: A survey
James Kramer,Matthias Scheutz +1 more
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Towards component-based robotics
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Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography
Ayssam Elkady,Tarek M. Sobh +1 more
TL;DR: A literature survey and attribute-based bibliography of the current state of the art in robotic middleware design is presented to assist roboticmiddleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications.
References
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Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
A robust layered control system for a mobile robot
TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Proceedings Article
Monte Carlo localization: efficient position estimation for mobile robots
TL;DR: Monte Carlo Localization is a version of Markov localization, a family of probabilistic approaches that have recently been applied with great practical success and yields improved accuracy while requiring an order of magnitude less computation when compared to previous approaches.
Journal ArticleDOI
An Architecture for Autonomy
TL;DR: An integrated architecture that allows a mobile robot to plan its tasks—taking into account temporal and domain constraints, to perform corresponding actions and to con trol their execution in real-time—while being reactive to possible events is described.
Proceedings ArticleDOI
The design and performance of a real-time CORBA event service
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