Semantic composition of robotic solver algorithms on graph structures
- 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.
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| Document Type: | Article |
|---|---|
| Language: | English |
| Author: | Sven Schneider, Nico Hochgeschwender, Herman Bruyninckx |
| Parent Title (English): | Frontiers in Robotics and AI |
| Volume: | 11 |
| Article Number: | 1363150 |
| Number of pages: | 18 |
| ISSN: | 2296-9144 |
| URN: | urn:nbn:de:hbz:1044-opus-88730 |
| DOI: | https://doi.org/10.3389/frobt.2024.1363150 |
| PMID: | https://pubmed.ncbi.nlm.nih.gov/39944358 |
| Publisher: | Frontiers Media |
| Publishing Institution: | Hochschule Bonn-Rhein-Sieg |
| Date of first publication: | 2025/01/29 |
| Copyright: | © 2025 Schneider, Hochgeschwender and Bruyninckx. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). |
| Funding: | Sven Schneider and Nico Hochgeschwender gratefully acknowledge the ongoing support of the Bonn-Aachen International Center for Information Technology. This work was supported by the European Union’s Horizon 2020 project SESAME (H2020-101017258, Secure and Safe Multi-Robot Systems). Nico Hochgeschwender gratefully acknowledges the support of the SOPRANO (Horizon Europe – 101120990) Project. Herman Bruyninckx gratefully acknowledges the support of RobMoSys (H2020-732410, Composable Models and Software for Robotics Systems-of-Systems) and Esrocos (H2020-730080, European Space Robot Control Operating System). |
| Tag: | algorithm synthesis; code generation; composability and compositionality; kinematics and dynamics; model-based engineering; solvers based on graph traversal |
| Departments, institutes and facilities: | Fachbereich Informatik |
| Institut für KI und Autonome Systeme (A2S) | |
| Projects: | SESAME Secure and Safe Multi-Robot Systems (EC/H2020/101017258) |
| Dewey Decimal Classification (DDC): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 006 Spezielle Computerverfahren |
| Entry in this database: | 2025/02/05 |
| Licence (German): |  Creative Commons - CC BY - Namensnennung 4.0 International |
