Sancta: An Ada 2005 General-Purpose Architecture for Mobile Robotics Research

We present SANCTA, a flexible control architecture for multirobot teams. It is fully written in Ada 2005, except for the reuse of some C libraries. In this paper we highlight the architectural elements of our implementation and also present our experiences using the cuttingedge 2005 implementation from GNAT, through its GPL 2005 and 2006 iterations. We expect to exemplify the kind of advantages and challenges that developers can find in using the new Ada 2005 features. Since this architecture makes use of a wide range of Ada capabilities, from low level hardware interaction to graphical user interfaces, we believe it is a good example of a successful mid-size project using Ada 2005 in academy.

[1]  Dirk Riehle.  A Role-Based Design Pattern Catalog of Atomic and Composite Patterns Structured by Pattern Purpose , 1997 .

[2]  Alejandro R. Mosteo,et al.  Simulated annealing for multi-robot hierarchical task allocation with flexible constraints and objective functions , 2006 .

[3]  C. D. Gelatt,et al.  Optimization by Simulated Annealing , 1983, Science.

[4]  Uwe Zdun,et al.  Architectural Patterns Revisited - A Pattern , 2005 .

[5]  S. Dreyfus,et al.  Thermodynamical Approach to the Traveling Salesman Problem : An Efficient Simulation Algorithm , 2004 .

[6]  C Haythornwaite,et al.  Gamma, E., Helm, R., Johnson, R. & Vlissides, J. Design Patterns: Elements of Reusable Object Oriented Software. New York: Addison-Wesley, 1995. , 2002 .

[7]  Nidhi Kalra,et al.  Market-Based Multirobot Coordination: A Survey and Analysis , 2006, Proceedings of the IEEE.

[8]  Ralph Johnson,et al.  design patterns elements of reusable object oriented software , 2019 .

[9]  Dirk Riehle.  Composite design patterns , 1997, OOPSLA '97.

[10]  Uwe Zdun,et al.  Architectural Patterns Revisited - A Pattern Language , 2005, EuroPLoP.

[11]  Florent Lamiraux,et al.  Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Lamberto Cesari,et al.  Optimization-Theory And Applications , 1983 .

[13]  Richard T. Vaughan,et al.  The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems , 2003 .