Progress in RoboComp

• Autores: Marco Antonio Gutierrez Giraldo, A. Romero Garcés, Pablo Bustos García de Castro , Jesús Martínez Cruz
• Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 7, Nº. 1, 2013 (Ejemplar dedicado a: Special issue on advances on physical agents), pág. 6
• Idioma: inglés
• DOI: 10.14198/jopha.2013.7.1.06
• Enlaces
  • Texto completo
• Dialnet Métricas: 1 Cita
• Resumen

  • During the last six years the RoboComp robotics framework has been steadily growing in the number of software components, the variety of robots supported and in new solutions to the maintenance of large robotics software repositories. In this paper we present recent advances in the formal definition of the RoboComp component model and a new set of tools based on Domain Specific Languages that have been created to simplify the whole development cycle of the components. Moreover, a new robot simulation tool has been created providing perfect integration with RoboComp and better control over experiments than current existing simulators. Finally, the paper describes a working solution to the important problem of communications middleware independence, which allows users to decide which middleware the components will be compiled with. Our solution has been validated by the integration of Nerve , a novel middle-ware for critical robotics tasks, in RoboComp

• Referencias bibliográficas
  • [1] J. He, X. Li and Z. Liu. “Component-based Software Engineering: the Need to Link Methods and their Theories.” Proc. of ICTAC 2005, Lecture...
  • [2] L.J. Manso, P. Bachiller, P. Bustos, P. Nunez, R. Cintas and L. Calderita. “RoboComp: a Tool-based Robotics Framework”. In Proc. of Int....
  • [3] M. Henning and M. Spruiell. “Distributed Programming with Ice”, ZeroC. 2009.
  • [4] ROS open source community. “ROS: The meta-operating system for robots.” Available at [http://ros.org](http://ros.org), 2011.
  • [5] C. Schlegel, A. Steck, D. Brugali and A. Knoll. “Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering.”...
  • [6] R. W. Claus, N. Wang, D. C. Schmidt and C. O'Ryan. “Overview of the CORBA Component Model”. Component Based Software Engineering:...
  • [7] “Adaptive Communications Environment”. Available at [http://www.cs.wustl.edu/~schmidt/ACE-overview.html](http://www.cs.wustl.edu/~schmidt/ACE-overview.html)
  • [8] N. Ando, S. Kurihara, G. Biggs, T. Sakamoto and H. Nakamoto. “Software Deployment Infrastructure for Component Based RT-Systems.” In Journal...
  • [9] A. W. Brown. “Model Driven Architecture: Principles and Practice”. Software and Systems Modeling, Pages: 314-327, 2004.
  • [10] Object Management Group. Robotic Technology Component Standard, version 1.0. Available at [http://www.omg.org/spec/RTC/1.0/](http://www.omg.org/spec/RTC/1.0/)
  • [11] D. C. Burnett, J. Carter, J. Barnett, M. Bodell, R. J. Auburn and R. Alkolkar. “State Chart XML (SCXML): State Machine Notation for Control...
  • [12] Object Management Group: Data Distribution Service for Real-time Systems (DDS), version 1.2, 2007.
  • [13] B.P. Gerkey, R.T. Vaughan, A. Howard. “The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems.” In Proceedings...
  • [14] J. Martínez, A. Romero-Garces, L. Manso, P. Bustos. “Improving a Robotics Framework with Real-time and High-performance Features.” Simulation,...
  • [15] Schlegel, C.: “Communication Patterns as Key Towards Component Interoperability” In Software Engineering for Experimental Robotics. STAR...
  • [16] Cruz, J. M., Romero-Garces, A., Rubio, J. P. B., Robles, R. M. and ´ Rubio, A. B., “A DDS-based middleware for quality-of-service and...
  • [17] PrismTech. OpenSplice DDS. Available at http://www.opensplice.com 2011.
  • [18] H, Owen, and R. Goodman. “Robots with internal models Journal of Consciousness Studies” 10 (4): 1-45. 2003