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We present a universal modular robot architecture. A robot consists of the following intelligent modules: central control unit (CCU), drive, actuators, a vision unit and sensor input unit. Software and hardware of the robot fit into this structure. We define generic interface protocols between these units. If the robot has to solve a new application and is equipped with a different drive, new actuators and different sensors, only the program for the new application has to be loaded into the CCU. The interfaces to the drive, the vision unit and the other sensors are plug-and-play interfaces. The only constraint for the CCU-program is the set of commands for the actuators.
OpCog: an industrial development approach for cognitive agent systems in military UAV applications
(2008)
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program development, but are mainly text-based and usually applied by experts in the field with profound knowledge of the target robot. This paper presents a graphical programming environment which aims to ease the development of robot control programs. In contrast to existing graphical robot programming environments, our approach focuses on the composition of parallel action sequences. The developed environment allows to schedule independent robot actions on parallel execution lines and provides mechanism to avoid side-effects of parallel actions. The developed environment is platform-independent and based on the model-driven paradigm. The feasibility of our approach is shown by the application of the sequencer to a simulated service robot and a robot for educational purpose.
The BRICS component model: a model-based development paradigm for complex robotics software systems
(2013)
We are happy to present you the special issue on Best Practice in Robot Software Development of the Journal on Software Engineering for Robotics! The spark for this special issue came during the eighth workshop on Software Development and Integration in Robotics (SDIR) at the 2013 IEEE International Conference on Robotics and Automation. The workshop focused on Robot Software Architectures, and the fruitful discussions made it clear that the design, development, and deployment of robot software is always an interplay between competing aspects. These are often couched in antagonistic pairs, such as dependability versus performance, and prominently include quality attributes as well as functional, nonfunctional, and application requirements.
The RoCKIn@Work Challenge
(2014)