Robot Software Framework Using Object and Aspect Oriented Programming Paradigm
01 Jan 2009-pp 149-160
TL;DR: Robot software framework using object and aspect oriented programming paradigm is proposed, which makes robot software easy to be maintained and reused.
Abstract: Robot software framework using object and aspect oriented programming paradigm is proposed. The object oriented programming paradigm is used to cope with reusability and extensibility of a robot software system. The aspect oriented programming paradigm is used to cope with cross-cutting concerns in robot tasks. The knowledge for concerned objects is built into the objects themselves, but the knowledge for cross-cutting concerns is written in “aspects.” For example, an exception, such as obstacle avoidance, is one of such cross-cutting knowledge. This framework makes robot software easy to be maintained and reused.
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21 Jul 2015
TL;DR: A high-level abstraction API for uniform programming and control of small domestic service-robots that support moving to various locations, grabbing items and basic two-way communication is presented and the applicability of the approach by various robot applications in the smart-home domain is demonstrated.
Abstract: Currently, small domestic service robots are on the verge of becoming a mass product for assisting end customers with everyday tasks. Despite open programming interfaces provided by robot manufacturers, many different robot systems exist that have to be programmed individually due to technical differences. The Robot Operating System (ROS) helps alleviate this problem, but provides only a low abstraction level, which hinders easy application development for entire classes of robots. This paper presents a high-level abstraction API for uniform programming and control of small domestic service-robots that support moving to various locations, grabbing items and basic two-way communication. The programming framework employs robot capabilities as abstractions and thereby facilitates intuitive use and extensibility. It builds on ROS functionality but hides underlying complexity from developers. We demonstrate the applicability of the approach by various robot applications in the smart-home domain that we developed on basis of the API.
11 citations
Cites background from "Robot Software Framework Using Obje..."
...In order to deal with cross-cutting concerns for robot software development, aspect-oriented programming may also be used as an additional programming abstraction [10]....
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TL;DR: Implemented functionality provides the ability to set the robot in different modes, and the operator can control the state of robot using simple commands, and is also able to carry more complex tasks.
Abstract: Abstract The authors in this publication present the concept of control system for the console operator to manage mobile robot platform and its components. Implemented functionality provides the ability to set the robot in different modes. The operator can control the state of robot using simple commands, and is also able to carry more complex tasks. The applied layered software architecture and Object-oriented programming (OOP) allows for easy management of software, maintenance, reusability and its further development.
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21 May 2001
TL;DR: The paper focuses on the long-term vision of this start-up project, motivates which strategic and innovative design decisions are to be taken (a CORBA-like component architecture being the most important one), and lists other projects on which OROCOS could build.
Abstract: This paper introduces the OROCOS project that aims at becoming a general-purpose and open robot control software package. OROCOS follows the open source development model that has been proven to work in many other general-purpose software packages, such as Linux, Apache, Perl or LATEX. The paper focuses on the long-term vision of this start-up project, motivates which strategic and innovative design decisions are to be taken (a CORBA-like component architecture being the most important one), and lists other projects on which OROCOS could build. The success of OROCOS depends critically on how many researchers and engineers can be motivated to contribute code, documentation and feedback to the project.
654 citations
05 Dec 2005
TL;DR: The RT-component, which is a basic software unit of RT-middleware based system integration, is derived from this discussion and a methodology of system development by using RT-components, and a framework for component development are proposed.
Abstract: In this paper, we propose RT-middleware for robot system integration. "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements and have developed RT-middleware, which promotes application of RT in various fields. Robotic system development methodology and our RT-middleware concepts are discussed. The RT-component, which is a basic software unit of RT-middleware based system integration, is derived from this discussion. A methodology of system development by using RT-components, and a framework for component development are proposed. Evaluations of some RT-component based systems are performed. Finally, conclusions and future work is described.
474 citations
10 Dec 2002
TL;DR: 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.
373 citations
29 Oct 2001
TL;DR: A prototype humanoid robot named SDR-3X is developed, which is about 50 cm height with 26 DOF, and performs to high tempo music with fast speed whole body motion, entertaining people with motion performance of a small humanoid robot.
Abstract: In this paper we propose a novel application of a humanoid robot: Motion Entertainment, i.e., entertaining people with motion performance of a small humanoid robot. We develop a prototype humanoid robot named SDR-3X, which is about 50 cm height with 26 DOF. Performing to high tempo music with fast speed whole body motion can provide a big impact to an audience. Some key technologies such as a newly developed actuator enable the realization of SDR-3X. In addition, the use of OPEN-R is another key factor for quick development. We describe the architecture and the key technologies of SDR-3X. We also describe a demonstration of Motion Entertainment by SDR-3X.
87 citations
27 Jun 2005
TL;DR: In this paper, the authors proposed a RT-component object model in RT-middleware for robot system integration, which is a basic software unit of RT-based system integration.
Abstract: This paper proposes RT-component object model in RT-middleware for robot system integration "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems RT-middleware is a software infrastructure for RT systems We have studied modularization of RT elements at software level For that reason, RT-middleware, which promotes application of RT in various field, have been developed Robotic system development methodology and our RT-middleware concepts was discussed RT-component, which is a basic software unit of RT-middleware based system integration, is derived from that discussion Next, the object model and the interface definition of RT-component architecture was discussed Finally conclusion and future work are described
71 citations