Distributed mobile robot application infrastructure

A distributed mobile robot software application infrastructure is developed, improving integration and leverage between projects in a research environment. The resulting design includes a three layer CORBA based, service broker application architecture. A reference implementation and tests on B21r, LEGO Mindstorm and Khepera robots demonstrate the feasibility of the design.

[1]  Stanley A. Schneider,et al.  The ControlShell component-based real-time programming system , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[2]  Ken Goldberg,et al.  The mercury project: a feasibility study for online robots , 2001 .

[3]  Ève Coste-Manière,et al.  The MAESTRO language and its environment: specification, validation and control of robotic missions , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[4]  Mohamed Fayad,et al.  Distributed computing in robotics and automation , 2002, IEEE Trans. Robotics Autom..

[5]  Maurizio Piaggio,et al.  ETHNOS: a light architecture for real-time mobile robotics , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[6]  Dave Baum,et al.  Dave Baum’s Definitive Guide to LEGO MINDSTORMS , 2000, Apress.

[7]  Rolf Johansson,et al.  Integrated architecture for industrial robot programming and control , 1999, Robotics Auton. Syst..

[8]  David J. Miller,et al.  An object-oriented environment for robot system architectures , 1991, IEEE Control Systems.

[9]  Carlos Eduardo Pereira,et al.  SIMOO-RT-an object-oriented framework for the development of real-time industrial automation systems , 2002, IEEE Trans. Robotics Autom..

[10]  Giovanni Indiveri,et al.  Robot behavior engineering using DD-Designer , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[11]  Barney Dalton.  A distributed framework for online robots , 2001 .

[12]  Reid Simmons,et al.  Xavier: An Autonomous Mobile Robot on the Web , 2001 .

[13]  Derek R. Wilson,et al.  Design of a distributed software architecture for an intelligent planning system , 1996 .

[14]  Brian Bagnall,et al.  Core Lego Mindstorms Programming: Unleash the Power of the Java Platform , 2002 .

[15]  Francesco Mondada,et al.  KhepOnTheWeb: open access to a mobile robot on the Internet , 2000, IEEE Robotics Autom. Mag..

[16]  James E. Beck,et al.  Applying a component-based software architecture to robotic workcell applications , 2000, IEEE Trans. Robotics Autom..

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

[18]  Delbert Tesar,et al.  A reusable operational software architecture for advanced robotics , 1996 .

[19]  Karen Zita Haigh,et al.  Xavier: experience with a layered robot architecture , 1997, SGAR.

[20]  Olivier Stasse,et al.  PredN: achieving efficiency and code re-usability in a programming system for complex robotic applications , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[21]  M. O. Berger,et al.  Client-server based mobile robot control , 1997, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[22]  Christian Schlegel,et al.  The software framework SMARTSOFT for implementing sensorimotor systems , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[23]  Philippe Lalanda,et al.  A Domain-Specific Software Architecture for Adaptive Intelligent Systems , 1995, IEEE Trans. Software Eng..

[24]  Bruce MacDonald,et al.  Mobile Robot Operating System with Position Location , 1998 .

[25]  Matthieu Herrb,et al.  G/sup en/oM: a tool for the specification and the implementation of operating modules in a distributed robot architecture , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[26]  Alfred Strohmeier,et al.  PINROB: A Portable API for Industrial Robots , 1998, Ada-Europe.

[27]  Francesco Mondada,et al.  KhepOn theWeb: one year to access to a mobile robot on the Internet , 2001 .

[28]  Matthieu Herrb,et al.  A tool for the specification and the implementation of operating modules in a distributed robot architecture , 1999 .

[29]  Roland Siegwart,et al.  Beyond Webcams: An Introduction to Online Robots , 2001 .

[30]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[31]  Clemens A. Szyperski,et al.  Component software - beyond object-oriented programming , 2002 .