Title :
Architecture of network robot control server software written in a Rule-based language
Author :
Shimbuichi, Masami ; Matsuoka, Koichi ; Takami, Kazumasa
Author_Institution :
Grad. Sch. of Eng., Soka Univ., Hachioji, Japan
Abstract :
If robots of different models are to provide the same networked robot service, it is desirable that they are able to use the same service programs. In this paper, we propose the architecture of networked robot control server software that allows the same service programs to be used by different robot models. Specifically, we define robot-model-independent common signals, and propose a robot control algorithm that focuses on "has-a" relations in robot control functions. We have developed a networked robot control server that implements the proposed architecture and algorithm and uses STAR (SofΓware Architecture using Rule-based language). To evaluate the proposed algorithm, we have developed an experimental system that provides a "Garbage Collection Service," and uses two robot models: AIBO and AmigoBot.
Keywords :
control engineering computing; logic programming languages; robot programming; software architecture; storage management; AIBO robot; AmigoBot robot; garbage collection service; network robot control server software architecture; robot-model-independent common signal; rule-based language; network-robot; rule-based-language; service program standardization;
Conference_Titel :
Wireless, Mobile and Multimedia Networks (ICWMNN 2010), IET 3rd International Conference on
Conference_Location :
Beijing
DOI :
10.1049/cp.2010.0693