Towards autonomous robotic systems using wrapper components

被引：0

作者：

Guedea-Elizalde, F ^{[1
]}

Song, I ^{[1
]}

Karray, F ^{[1
]}

Soto, R ^{[1
]}

Morales-Menéndez, R ^{[1
]}

机构：

[1] ITESM, Ctr Integrated Mfg Syst, Monterrey 64849, NL, Mexico

来源：

PROCEEDINGS OF THE TENTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS | 2004年

关键词：

CORBA; distributed components; robotics; planning; autonomous robotic system;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The construction of a robotic system is a challenge when components from different vendors are involved. This is more difficult if the overall system development has to deal with environmental uncertainties or changing conditions. In these cases, new tools and equipment are necessary to adapt the initial configuration to the new changing requirements. Each added component increases the complexity of the system due to the interconnection required with the previous components. We present an integration methodology to create or to enhance robotic systems by combining tools from computer vision, and planning system in distributed computing areas. We named this concept Wrapper Components. This concept is based on a standard middleware software specification. Wrapper components are object-oriented modules that create an abstract interface for a specific class of hardware or software components. When all these components are integrated the robotic system exhibits a smart behavior. We test our approach by solving an experimental classical problem named block world. Early results are great.

引用

页码：172 / 177

页数：6

共 15 条

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