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Towards a hybrid software architecture and multi-agent approach for autonomous robot software

INTERNATIONAL JOURNAL OF ADVANCED robotIC SYSTEMS 2017年第4期14卷 1-15页

作者： Yang, Shuo Mao, Xinjun Yang, Sen Liu, Zhe Natl Univ Def Technol Coll Comp Changsha 410073 Kaifu Peoples R China

To support robust plan execution of autonomous robots in dynamic environments, autonomous robot software should include adaptive and reactive capabilities to cope with the dynamics and uncertainties of the evolving states of real-world environments. However, conventional software architectures such as sense-model-plan-act and behaviour-based paradigms are inadequate for meeting the requirements. A lack of sensing during acting in the sense-model-plan-act paradigm makes the software slow to react to run-time contingencies, whereas the behaviour-based architectures typically fall short in planning of long-range steps and making optimized plan adaptations. This article proposes a hybrid software architecture that maintains both adaptivity and reactivity of robot behaviours in dynamic environments. To implement this architecture, we further present the multi-agent development framework known as Autorobot, which views the robot software as a multi-agent system in which diverse agent roles collaborate to achieve software functionalities. To demonstrate the applicability and validity of our concrete framework and software architecture, we conduct an experiment to implement a typical case, for example, a robot that autonomously picks up and drops off dishes for remote guests, which requires the robot to plan and navigate in a highly dynamic environment and can adapt its behaviours to unexpected situations.

关键词： autonomous robot software hybrid software architecture multi-agent system adaptivity reactivity

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software Engineering for autonomous robot: Challenges, Progresses and Opportunities 27

Software Engineering for Autonomous Robot: Challenges, Progr...

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27th Asia-Pacific software Engineering Conference (APSEC)

作者： Mao, Xinjun Huang, Hao Wang, Shuo Natl Univ Def Technol Coll Comp Key Lab Software Engn Complex Syst Changsha 410073 Peoples R China

ISBN: (纸本)9781728195537

software engineering for autonomous robot (SE4AR) is an emerging interdisciplinary field with the aims to support the development, running and evolution of software systems for autonomous robot - a safety and mission critical cyber-physical system. Such field has recently gained increasing attentions from both academia and industry and made rapid progresses in the past years. However, many challenges pose on the SE4AR due to the specific features and complexities of autonomous robot software (ARS) and several open problems should be tackled in the future researches. This paper aims to present a comprehensive investigation on the researches and practices of SE4AR. Our contributions are three-fold as follows: an in-depth analysis on the development challenges, a systematic review on the current progresses, and an open discussion of weaknesses in current researches and opportunities in future researches.

关键词： software engineering autonomous robot software cyber-physical system

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