We present a novel robotic software development framework for rapid simulation and programming of mobile robot teams. The framework uses a specification-centred generative approach. A robot control program is specifie...
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ISBN:
(纸本)0780365763
We present a novel robotic software development framework for rapid simulation and programming of mobile robot teams. The framework uses a specification-centred generative approach. A robot control program is specified in an intuitive graphical representation of a hyper-graph of typed data processing elements, This specification is automatically refined to all design artifacts required in a roboticsoftwaredevelopment environment: simulation models, robot control programs, team communication infrastructure, documentation, and real-time monitoring. Although our framework was originally, intended to design behavior-based robot control programs using the Dual Dynamics architecture, we demonstrate the flexibility of the environment by an example which integrates a "classical" control schema into a Dual Dynamics behavior system. Experimental validation was done on GMD-Robots, our team of mid-size league RoboCup robots.
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