A key methodology for the development of autonomousrobots is testing using simulated robot Motion and sensing systems. Ail important issue when simulating teams of heterogeneous autonomousrobots is performance versu...
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ISBN:
(纸本)9783540890751
A key methodology for the development of autonomousrobots is testing using simulated robot Motion and sensing systems. Ail important issue when simulating teams of heterogeneous autonomousrobots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for the simulation of motion and sensing systems of each individual robot in a scenario with individual level of realism. It has already been used successfully for the simulation of several types of legged and wheeled robots equipped with cameras and laser scanners. In this paper the core functionalities of MuRoSimF are presented. Existing algorithms for simulation of the robots' motions are revised. Newly added features including the execution of the simulation on multi core CPUs and two different algorithms for the simulation of laser scanners are presented. The performance of these features is tested in an urban scenario using wheeled robots.
This paper presents the software being developed at IRI (Institut de Robotica i Informatica Industrial) for mobile robot autonomous navigation in the context of the european project URUS (Ubiquitous robots in Urban Se...
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ISBN:
(纸本)9783540890751
This paper presents the software being developed at IRI (Institut de Robotica i Informatica Industrial) for mobile robot autonomous navigation in the context of the european project URUS (Ubiquitous robots in Urban Settings). In order that a deployed sensor network and robots operating in the environment cooperate in terms of information sharing, main requirements are real-time performance and the integration of information coming from remote machines not onboard the robot. Moreover, the project involves a group of eleven industrial and academic partners, therefore software integration issues are critical. The proposed software framework is based on the YARP middleware and has been tested in real and simulated experiments.
Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teache...
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ISBN:
(纸本)9783540890751
Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teached in modern software engineering to be free of errors and tolerant to sensor noise in a real world scenario is to a large extend beyond the scope of current approaches. In this paper multilevel testing strategies using the developed frameworks RoboFrame and MuRoSimF are presented. Testing incorporating automated tests, online and offline analysis and software-in-the-loop (SIL) tests in combination with real robot hardware or an adequate simulation are highly facilitated by the two frameworks. Thus the efficiency of validation of complex real world applications is improved. In this way potential errors, can be identified early in the development process and error situations in real world operations can be reduced significantly.
We present a 3D-simulation which is used to develop automatic applications for a motorized operation microscope. It is implemented using java and java3d and enables a hardware independent evaluation of the system by t...
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ISBN:
(纸本)9783540890751
We present a 3D-simulation which is used to develop automatic applications for a motorized operation microscope. It is implemented using java and java3d and enables a hardware independent evaluation of the system by the manufacturer as well as the user. An easy switch-over from simulation to the real system is possible because of software interfaces which are used to separate input and output methods. The simulation is also used to specify the parameters of the motorisation so that the microscope can be positioned accurately.
In this paper a framework for simulation of Unmanned Aerial Vehicles (UAVs), oriented to rotary wings aerial vehicles, is presented. It allows UAV simulations for stand-alone agents or multi-agents exchanging data in ...
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ISBN:
(纸本)9783540890751
In this paper a framework for simulation of Unmanned Aerial Vehicles (UAVs), oriented to rotary wings aerial vehicles, is presented. It allows UAV simulations for stand-alone agents or multi-agents exchanging data in cooperative scenarios. The framework, based on modularity and stratification in different specialized layers, allows an easy switching from simulated to real environments, thus reducing testing and debugging times. CAD modelling supports the framework mainly with respect to extraction of geometrical parameters and virtualization. Useful applications of the framework include pilot training, testing and validation of UAVs control strategies, especially in an educational context, and simulation of complex missions.
The goal of this work is to develop an integration framework for a robotic software system which enables robotic learning by experimentation within a distributed and heterogeneous setting. To meet this challenge, the ...
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ISBN:
(纸本)9783540890751
The goal of this work is to develop an integration framework for a robotic software system which enables robotic learning by experimentation within a distributed and heterogeneous setting. To meet this challenge, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well-defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Additionally, the successful integration of the XPERSim simulator into the system has enabled simultaneous quasi-realtime observation of the simulation by numerous, distributed users.
We present empirical results of an auction-based algorithm for dynamic allocation of tasks to robots. The results have been obtained both in simulation and using real robots. A distinctive feature of our algorithm is ...
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ISBN:
(纸本)9783540890751
We present empirical results of an auction-based algorithm for dynamic allocation of tasks to robots. The results have been obtained both in simulation and using real robots. A distinctive feature of our algorithm is its robustness to uncertainties and to robot malfunctions that happen during task execution, when unexpected obstacles, loss of communication, and other delays may prevent a robot from completing its allocated tasks. Therefore tasks not yet achieved are resubmitted for bids every time a task has been completed, This provides an opportunity to improve the allocation of the remaining tasks, enabling the robots to recover from failures and reducing the overall time for task completion.
Modular self-reconfigurable robots are drawing increasing interest due to their nature as a versatile, resilient and potentially cost-effective tool. programming modular self-reconfigurable robots is however complicat...
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ISBN:
(纸本)9783540890751
Modular self-reconfigurable robots are drawing increasing interest due to their nature as a versatile, resilient and potentially cost-effective tool. programming modular self-reconfigurable robots is however complicated by the need for closely coordinating the actions of each module with those of its neighbors. In this paper, we investigate the need for a flexible set of concurrency primitives with which to express control algorithms, while respecting the constraints posed by the physical structure. We present two solutions for the ATRON self-reconfigurable robot built over TinyOS and the Java Virtual Machine. Both solutions are based on the principle of split-phase operations, and both address the need for a structured, language-neutral way to express the desired control flow, while retaining the flexibility needed to efficiently cope with the constraints specific to highly physically concurrent robotic systems.
The clothing artefact business is facing relevant restructuring to become able to produce items with enhanced value as for quality reliability, fashion inventiveness and mass customization. The paper presents a multi-...
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ISBN:
(纸本)9783540890751
The clothing artefact business is facing relevant restructuring to become able to produce items with enhanced value as for quality reliability, fashion inventiveness and mass customization. The paper presents a multi-agent simulation environment developed to assess and virtually check the feasibility and performances of flexible automation solutions that can help the clothing industry to overcome the shift towards knowledge driven organizations. It addresses new options based on distributed intelligence and robotized cooperative resources including human assisted working.
We have been developing a conceptual design for a power distribution line maintenance robot system using a CG (Computer Graphics) simulator and an experimental robot system. This system is a semi-autonomous robot syst...
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ISBN:
(纸本)9783540890751
We have been developing a conceptual design for a power distribution line maintenance robot system using a CG (Computer Graphics) simulator and an experimental robot system. This system is a semi-autonomous robot system which performs - tasks with task level instructions. We developed the design while during construction of the CG simulator. We believe that we demonstrate a possible solution to working up a semi-autonomous robot system.
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