A real-time software framework for indoor navigation

被引：2

作者：

Pont, F ^{[1
]}

Siegwart, R ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, ASL, CH-1015 Lausanne, Switzerland

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

real-time; software framework; component-based software; indoor navigation;

D O I：

10.1109/IROS.2005.1545524

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We introduce an initial implementation or a realtime component-based software framework for autonomous mobile robots. We argue that real-world autonomous mobile robots shall be controlled by self-contained software systems able to meet hard timing constraints. The proposed solution empowers specialized roboticists to contribute software components that can be integrated into complete real-time systems. The framework also facilitates robotic software components reuse and portability across hardware platforms. Based on an indoor navigation case study we evaluate the advantages and the limitations of the framework in terms of ease of use, modularity and real-time capabilities.

引用

页码：3573 / 3578

页数：6

共 20 条

[1]

ARKIN RC, 1998, BAHAV BASED ROBOTICS

[2]

BREGA R, 2000, P C INT ROB SYST IRO

[3] A ROBUST LAYERED CONTROL-SYSTEM FOR A MOBILE ROBOT [J].

BROOKS, RA .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1986, 2 (01) :14-23

[4]

COTE C, 2004, P C INT ROB SYST IRO

[5]

Fleury S., 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 (Cat. No.97CH36108), P842, DOI 10.1109/IROS.1997.655108

[6]

GAT E, 1997, ARTIFICIAL INTELLIGE

[7]

Gerkey BP, 2001, IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P1226, DOI 10.1109/IROS.2001.977150

[8]

Heineman G. T., 2001, COMPONENT BASED SOFT

[9]

KOONOLIGE K, 1996, SAPHIRA ARCHITECTURE

[10]

LI W, 2004, P INT C ROB AUT APR

← 1 2 →