TY  - JOUR
U1  - Wissenschaftlicher Artikel
A1  - Schneider, Sven
A1  - Hochgeschwender, Nico
A1  - Bruyninckx, Herman
T1  - Semantic composition of robotic solver algorithms on graph structures
JF  - Frontiers in Robotics and AI
N2  - This article introduces a model-based design, implementation, deployment, and execution methodology, with tools supporting the systematic composition of algorithms from generic and domain-specific computational building blocks that prevent code duplication and enable robots to adapt their software themselves. The envisaged algorithms are numerical solvers based on graph structures. In this article, we focus on kinematics and dynamics algorithms, but examples such as message passing on probabilistic networks and factor graphs or cascade control diagrams fall under the same pattern. The tools rely on mature standards from the Semantic Web. They first synthesize algorithms symbolically, from which they then generate efficient code. The use case is an overactuated mobile robot with two redundant arms.
KW  - model-based engineering
KW  - composability and compositionality
KW  - code generation
KW  - kinematics and dynamics
KW  - solvers based on graph traversal
KW  - algorithm synthesis
Y1  - 2025
UN  - https://nbn-resolving.org/urn:nbn:de:hbz:1044-opus-88730
SN  - 2296-9144
SS  - 2296-9144
U6  - https://doi.org/10.3389/frobt.2024.1363150
DO  - https://doi.org/10.3389/frobt.2024.1363150
PM  - 39944358
VL  - 11
SP  - 18
S1  - 18
PB  - Frontiers Media
ER  -