Software support for high-level specification, execution and estimation of event-driven, constraint-based multi-sensor robot tasks

Author

Smits, Ruben ; Bruyninckx, Herman ; De Schutter, Joris

Author_Institution

Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium

fYear

2009

fDate

22-26 June 2009

Firstpage

1

Lastpage

6

Abstract

This paper proposes a robot control programming system for the specification, execution and estimation of multi-sensor, multi-robot, constraint-based robot applications. A multi-layered set of specification primitives is supported at, respectively, constraint, skill, and task level. These layers provide appropriate abstractions for both application builders and application users. The implementation challenges of the presented approach are discussed. A few examples of real experiments are given that use the proposed specification approach to various degrees.

Keywords

formal specification; robot programming; sensor fusion; event-driven constraint-based multisensor robot task; high-level estimation; high-level execution; high-level specification; robot control programming system; software support; Application software; Arm; Automata; Human robot interaction; Monitoring; Programming profession; Robot control; Robot sensing systems; Tactile sensors; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2009. ICAR 2009. International Conference on

Conference_Location

Munich

Print_ISBN

978-1-4244-4855-5

Electronic_ISBN

978-3-8396-0035-1

Type

conf

Filename

5174787