Software Systems for Robotics An Applied Research Perspective

Over the past 20 years, Defence Research and Development Canada has developed numerous tele-operated unmanned ground vehicles (UGV), many founded on the ANCÆUS command and control system. This paper relates how long experience with tele-operated UGVs influenced DRDC's shift in focus from tele-operated to autonomous unmanned vehicles (UV), the forces that guided DRDC's development approach and DRDC's experience adapting a specific tool set, MIRO, to a UGV implementation.

[1]  Robert James Firby,et al.  Adaptive execution in complex dynamic worlds , 1989 .

[2]  Daniel P. Schrage,et al.  An open platform for reconfigurable control , 2001 .

[3]  Herbert Schildt,et al.  C++ from the ground up , 1998 .

[4]  Douglas C. Schmidt,et al.  An overview of the Real-Time CORBA specification , 2000, Computer.

[5]  Günther Palm,et al.  Miro: Middleware for Autonomous Mobile Robots , 2001 .

[6]  Kurt Konolige,et al.  The saphira architecture for autonomous mobile robots , 1998 .

[7]  G Broten,et al.  Engineering Review of ANCAUS/AVATAR: An Enabling Technology for the Autonomous Land Systems Program? , 2003 .

[8]  Douglas C. Schmidt,et al.  The design of the TAO real-time object request broker , 1998, Comput. Commun..

[9]  Jay Gowdy.  IPT: An Object Oriented Toolkit for Interprocess Communication. , 1996 .

[10]  Douglas C. Schmidt,et al.  C++ network programming , 2002 .

[11]  François Michaud,et al.  Code reusability tools for programming mobile robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

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

[13]  Hans Utz,et al.  Miro - middleware for mobile robot applications , 2002, IEEE Trans. Robotics Autom..

[14]  Illah R. Nourbakhsh,et al.  DERVISH - An Office-Navigating Robot , 1995, AI Mag..

[15]  Erann Gat,et al.  Experiences with an architecture for intelligent, reactive agents , 1997, J. Exp. Theor. Artif. Intell..

[16]  Jay W. Gowdy.  A Qualitative Comparison of Interprocess Communications Toolkits for Robotics , 2000 .

[17]  Jay Gowdy,et al.  Emergent Architectures: A Case Study for Outdoor Mobile Robots , 2000 .

[18]  James S. Albus,et al.  4-D/RCS: a reference model architecture for Demo III , 1997, Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell.

[19]  Jorgen David Pedersen.  Robust Communications for High Bandwidth Real-Time Systems , 1998 .

[20]  Robin R. Murphy,et al.  Artificial intelligence and mobile robots: case studies of successful robot systems , 1998 .

[21]  Fintan Bolton,et al.  Pure CORBA: A Code-Intensive Premium Reference , 2001 .

[22]  Anders Orebäck,et al.  BERRA: a research architecture for service robots , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[23]  Jack Collier,et al.  Towards Distributed Intelligence , 2004 .

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

[25]  Steve Vinoski,et al.  Advanced CORBA® Programming with C++ , 1999 .

[26]  Richard T. Vaughan,et al.  On device abstractions for portable, reusable robot code , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[27]  Sebastian Thrun,et al.  Perspectives on standardization in mobile robot programming: the Carnegie Mellon Navigation (CARMEN) Toolkit , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[28]  John L. Michaloski,et al.  The Neutral Message Language: A Model and Method for Message Passing in Heterogeneous Environments , 2000 .

[29]  R. Lumia,et al.  Hierarchical Control of Intelligent Machines Applied to Space Station Telerobots , 1987 .