A Software Architecture Framework for Home Service Robots

Kimour, Mohamed Tahar; Bessam, Ammar; Boudour, Rachid

doi:10.2498/cit.1001212

Cited by 3 publications

(7 citation statements)

References 18 publications

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“…All these architectures have achieved a lot and addressed some of the issues/challenges [22], [23] related to design and development of social or service robots. However, none of these architectures have reached all their objectives [17] and still lack of usability and robustness [16].…”

Section: Motivationmentioning

confidence: 99%

“…In the last decade, many robotics software architectures, including, YARP [10], Player/Stage [11], CLARAty [12], OROCOS [13], Orca [14], LAAS [15], TASER [16], Service Robot Architecture [17], EICA [18], Samsung Home Robot [19], Social Robot Architecture [20], Architecture for 1 http://www.asoro.a-star.edu.sg/index.html Autonomy [21] etc., have been defined and the development of the service robotics has evolved drastically. In the following some of these architectures are briefly discussed.…”

Section: Motivationmentioning

confidence: 99%

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A software architecture framework for service robots

Limbu

Tan

Jiang

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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Service robot is a complex system, which demands a highly flexible, extensible, and maintainable software architecture framework to achieve its goals/tasks. This paper describes a software architecture framework designed to fulfill these needs. To date, the architecture has been successfully applied to the development of different service robots; Olivia, Mika and Lucas developed by A*STAR Social Robotics Laboratory (ASORO). These service robots have different hardware and software requirements and are exhibited in various events, including RoboCup 2010, World Cities Summit and TechFest 2010. During the course of these events, these robots successfully demonstrated the functionality of the software architecture that seamlessly integrates various robotics components in completing a challenging real-world task. Most significantly, the architecture demonstrated its flexibility, extensibility, and maintainability to different domains. These outcomes indicate that the architecture has potential to contribute towards the long term goal of intelligent service robotics in different service domains.

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Section: Motivationmentioning

confidence: 99%

Section: Motivationmentioning

confidence: 99%

A software architecture framework for service robots

Limbu

Tan

Jiang

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

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“…Home service robots (Kimour et al 2009 ) perform tasks that require interaction with humans using a variety of human-robot interfaces, such as physical buttons, microphones, speakers, cameras, and touch screens.…”

Section: Drivers Of Variability (Rq1)mentioning

confidence: 99%

“…Mission variability is discussed in relation to the specific purpose and application of the robotic system—e.g., cleaning of ship-hull surfaces (Álvarez et al 2006 ), home entertainment (Kimour et al 2009 ), and factory logistics (Rollenhagen et al 2019 ). A concrete example of mission variability for UAVs consists of different payloads that require fine-tuning of flight control parameters.…”

Section: Drivers Of Variability (Rq1)mentioning

confidence: 99%

Software variability in service robotics

et al. 2022

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Robots artificially replicate human capabilities thanks to their software, the main embodiment of intelligence. However, engineering robotics software has become increasingly challenging. Developers need expertise from different disciplines as well as they are faced with heterogeneous hardware and uncertain operating environments. To this end, the software needs to be variable—to customize robots for different customers, hardware, and operating environments. However, variability adds substantial complexity and needs to be managed—yet, ad hoc practices prevail in the robotics domain, challenging effective software reuse, maintenance, and evolution. To improve the situation, we need to enhance our empirical understanding of variability in robotics. We present a multiple-case study on software variability in the vibrant and challenging domain of service robotics. We investigated drivers, practices, methods, and challenges of variability from industrial companies building service robots. We analyzed the state-of-the-practice and the state-of-the-art—the former via an experience report and eleven interviews with two service robotics companies; the latter via a systematic literature review. We triangulated from these sources, reporting observations with actionable recommendations for researchers, tool providers, and practitioners. We formulated hypotheses trying to explain our observations, and also compared the state-of-the-art from the literature with the-state-of-the-practice we observed in our cases. We learned that the level of abstraction in robotics software needs to be raised for simplifying variability management and software integration, while keeping a sufficient level of customization to boost efficiency and effectiveness in their robots’ operation. Planning and realizing variability for specific requirements and implementing robust abstractions permit robotic applications to operate robustly in dynamic environments, which are often only partially known and controllable. With this aim, our companies use a number of mechanisms, some of them based on formalisms used to specify robotic behavior, such as finite-state machines and behavior trees. To foster software reuse, the service robotics domain will greatly benefit from having software components—completely decoupled from hardware—with harmonized and standardized interfaces, and organized in an ecosystem shared among various companies.

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“…Software solutions for complex mechatronic systems such as service robots are widely used and still under development. Modular and reusable layered software architecture is developed for Home Service Robots [10] where computations are categorized to different layers from higher to lower such as central control unit, functional unit and mechanism abstraction, respectively. Similarly integration of various robotic components for service robots is considered in [11], [12].…”

Section: State Of the Artmentioning

confidence: 99%

Implementation of a novel complex mechatronics software framework on laser micromachining workstation

et al. 2013

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As technology brings more complex and sophisticated systems, the importance of the problem of designing and developing a mechatronic system increases as well and it becomes more complicated to obtain a reliable, accurate and sustainable system. Since complex systems are generally composed of many different types of sub-systems, a necessity for a systematic approach towards the development arises. In this paper, the problem of software development for complex mechatronic systems is adressed and a novel software framework is proposed in order to provide common design and development criteria and related software structures. As an implementation of the framework and to present a proof of concept, software for a laser micromachining workstation is developed from scratch using this framework. Experiments are conducted using the workstation and results are provided.

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A Software Architecture Framework for Home Service Robots

Cited by 3 publications

References 18 publications

A software architecture framework for service robots

A software architecture framework for service robots

Software variability in service robotics

Implementation of a novel complex mechatronics software framework on laser micromachining workstation

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