Compliant control and software agents for Internet robotics

Author

Al-Hammouri, A. ; Covitch, A. ; Kose, M. ; Rosas, D. ; Newman, W.S. ; Liberatore, V.

Author_Institution

Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA

fYear

2003

fDate

15-17 Jan. 2003

Firstpage

280

Lastpage

287

Abstract

This paper describes the architectural principles of a distributed agent-based platform for the remote supervision of robotic manipulation tasks. The main contributions are that real-time constraints can be encapsulated within the local robotic controller through methods of compliant control, and that such a low-level API (application program interface) is the foundation for distributed applications that are evolvable, survivable, and can guarantee stability and compliance even in the presence of failures and lack of QoS (quality of service) provisioning. We discuss our experience with a prototype implementation and outline future research directions.

Keywords

Internet; application program interfaces; intelligent control; manipulators; mobile agents; multi-agent systems; quality of service; telerobotics; API; Internet; QoS; application program interface; compliant control; quality of service; remote supervision; robotic controller; robotic manipulation task; robotics; software agent; Communication system control; Conferences; Delay; Intelligent agent; Intelligent robots; Internet; Real time systems; Robot control; Software agents; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Object-Oriented Real-Time Dependable Systems, 2003. (WORDS 2003). Proceedings of the Eighth International Workshop on

Print_ISBN

0-7695-1929-6

Type

conf

DOI

10.1109/WORDS.2003.1218094

Filename

1218094