Declarative Specification of Robot Perception Architectures

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing requirements which make the design and implementation of a robot perception architecture a complex and tedious exercise which is prone to error. We suggest to specify the integral parts of robot perception architectures using explicit models, which allows to easily configure, modify, and validate them. The paper presents the domain-specific language RPSL, some examples of its application, the current state of implementation and some validation experiments.

[1]  Allen R. Hanson,et al.  Computer Vision Systems , 1978 .

[2]  Salvatore Gaglio,et al.  A Cognitive Architecture for Artificial Vision , 1997, Artif. Intell..

[3]  Tewfik Ziadi,et al.  RobotML, a Domain-Specific Language to Design, Simulate and Deploy Robotic Applications , 2012, SIMPAR.

[4]  Douglas C. Schmidt,et al.  Guest Editor's Introduction: Model-Driven Engineering , 2006, Computer.

[5]  Radu Bogdan Rusu,et al.  3D is here: Point Cloud Library (PCL) , 2011, 2011 IEEE International Conference on Robotics and Automation.

[6]  Herman Bruyninckx,et al.  A model-based approach to software deployment in robotics , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Adriana Tapus,et al.  Solution Space Modeling for Robotic Systems , 2014 .

[8]  Mathieu Acher,et al.  Run Time Adaptation of Video-Surveillance Systems: A Software Modeling Approach , 2011, ICVS.

[9]  Peter Gärdenfors,et al.  Conceptual spaces - the geometry of thought , 2000 .

[10]  Holger Voos,et al.  Towards a Robot Perception Specification Language , 2014, ArXiv.

[11]  Herman Bruyninckx,et al.  The BRICS component model: a model-based development paradigm for complex robotics software systems , 2013, SAC '13.

[12]  Thomas A. Funkhouser,et al.  Min-cut based segmentation of point clouds , 2009, 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops.

[13]  Gerhard K. Kraetzschmar,et al.  Component models in robotics software , 2010, PerMIS.

[14]  Sebastian Wrede,et al.  A Survey on Domain-Specific Languages in Robotics , 2014, SIMPAR.

[15]  S S Stevens,et al.  On the Theory of Scales of Measurement. , 1946, Science.

[16]  Geoffrey Biggs,et al.  Rapid data processing pipeline development using OpenRTM-aist , 2011, 2011 IEEE/SICE International Symposium on System Integration (SII).