Integrating systems in robotics

Author

Fernandez-Perez, Jose Luis ; Dominguez-Brito, Antonio C. ; Hernandez-Sosa, Daniel ; Cabrera-Gamez, Jorge

Author_Institution

Inst. Univ. de Sistemas Inteligentes y Aplicaciones Numericas en Ingenieria, Univ. de Las Palmas de Gran Canaria, Spain

Volume

2

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

632

Abstract

Developing software for controlling robotic systems is costly due to the complexity inherent in these systems. There is a need for tools that permit a reduction in the programming efforts, aiming at the generation of modular and robust applications, and promoting software reuse. The techniques which are of common use today in other areas are not adequate to deal with the complexity associated with these systems. This document presents CoolBOT, a component oriented framework for programming robotic systems, based on a port automata model that fosters controllability and observability of software components. A simple demonstrator illustrates the benefits of using the proposed approach.

Keywords

controllability; object-oriented programming; observability; robot programming; software reusability; CoolBOT; controllability; modular robust applications; observability; port automata model; programming; robotic system control; software components; software reuse; system integration; Application software; Automata; Automatic programming; Control systems; Controllability; Robot control; Robot programming; Robotics and automation; Robustness; Software tools;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1437992

Filename

1437992