System integration supporting evolutionary development and design

Spexard, Thorsten P. and Hanheide, Marc (2009) System integration supporting evolutionary development and design. In: Conference on Human Centered Robotic Systems, November 19-20, 2009, Bielefeld University, Germany.

Documents
Spexard2009-System_Integration_Supporting_Evolutionary_Development_and_Design[1].pdf

Request a copy
[img] PDF
Spexard2009-System_Integration_Supporting_Evolutionary_Development_and_Design[1].pdf - Whole Document
Restricted to Repository staff only

1MB
Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

Abstract With robotic systems entering our daily life, they have to become more flexible and subsuming a multitude of abilities in one single integrated system. Subsequently an increased extensibility of the robots’ system architectures is needed.
The goal is to facilitate a long-time evolution of the integrated system in-line with the scientific progress on the algorithmic level. In this paper we present an approach developed for an event-driven robot architecture, focussing on the coordination and interplay of new abilities and components. Appropriate timing, sequencing strategies, execution guaranties, and process flow synchronization are taken into account to allow appropriate arbitration and interaction between components as well as between the integrated system and the user. The presented approach features dynamic reconfiguration and global coordination based on simple production rules. These are applied fist time in conjunction with flexible representations in global memory spaces and an event-driven architecture. As a result a highly adaptive robot control compared to alternative approaches is achieved, allowing system modification during runtime even within complex interactive human-robot scenarios

Additional Information:Abstract With robotic systems entering our daily life, they have to become more flexible and subsuming a multitude of abilities in one single integrated system. Subsequently an increased extensibility of the robots’ system architectures is needed. The goal is to facilitate a long-time evolution of the integrated system in-line with the scientific progress on the algorithmic level. In this paper we present an approach developed for an event-driven robot architecture, focussing on the coordination and interplay of new abilities and components. Appropriate timing, sequencing strategies, execution guaranties, and process flow synchronization are taken into account to allow appropriate arbitration and interaction between components as well as between the integrated system and the user. The presented approach features dynamic reconfiguration and global coordination based on simple production rules. These are applied fist time in conjunction with flexible representations in global memory spaces and an event-driven architecture. As a result a highly adaptive robot control compared to alternative approaches is achieved, allowing system modification during runtime even within complex interactive human-robot scenarios
Keywords:Robotics, Human-robot interaction
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:6925
Deposited On:07 Jan 2013 09:45

Repository Staff Only: item control page