Are Middlewares Ready for Multi-robots Systems?

Chitic, Stefan-Gabriel; Ponge, Julien; Simonin, Olivier

doi:10.1007/978-3-319-11900-7_24

Cited by 13 publications

(11 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Probably, the most relevant ROS alternative is the YARP ter [5] framework, which has been designed to be the main distribution platform for the iCub robot [20]. Unlike ROS 1.0, which middleware capabilities were developed from scratch, YARP was developed on top of the Adaptive Communication Environment (ACE) library [21,22]. Recently, ROS 2.0 has been launched for mostly satisfying industrial requirements.…”

Section: Related Workmentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

View full text Add to dashboard Cite

This article presents the novel Python, C# and JavaScript libraries of Node Primitives (NEP), a high-level, open, distributed, and component-based framework designed to enable easy development of cross-platform software architectures. NEP is built on top of low-level, high-performance and robust sockets libraries (ZeroMQ and Nanomsg) and robot middlewares (ROS 1 and ROS 2). This enables platform-independent development of Human–Robot Interaction (HRI) software architectures. We show minimal code examples for enabling Publish/Subscribe communication between Internet of Things (IoT) and Robotics modules. Two user cases performed outside laboratories are briefly described in order to prove the technological feasibility of NEP for developing real-world applications. The first user case briefly shows the potential of using NEP for enabling the creation of End-User Development (EUD) interfaces for IoT-aided Human–Robot Interaction. The second user case briefly describes a software architecture integrating state-of-art sensory devices, deep learning perceptual modules, and a ROS -based humanoid robot to enable IoT-aided HRI in a public space. Finally, a comparative study showed better latency results of NEP over a popular state-of-art tool (ROS using rosbridge) for connecting different nodes executed in local-host and local area network (LAN).

show abstract

Section: Related Workmentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

View full text Add to dashboard Cite

show abstract

“…In Calisi et al [5] authors showed that a lot of frameworks have been proposed for robotics software development. More recently, Chitic et al [6] have underlined that ROS has become a classic middleware to support such a development, with a rich library of functions. Other middlewares, as [7], focus on tasks description language and life cycles.…”

Section: Service Robots and Software Architecturesmentioning

confidence: 99%

“…An additional process is required to track all these data/encountered humans. To do so we customize the world state estimator of detected object wire 6 . Wire provides a toolset to track various object attributes during the time.…”

Section: Human Detection and Interactionmentioning

confidence: 99%

Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

Jumel

Saraydaryan

Leber

et al. 2019

RoboCup 2018: Robot World Cup XXII

Self Cite

View full text Add to dashboard Cite

This paper presents an architecture dedicated to the orchestration of high level abilities of a humanoid robot, such as a Pepper, which must perform some tasks as the ones proposed in the RoboCup@Home competition. We present the main abilities that a humanoid service robot should provide. We choose to build them based on recent methodologies linked to social navigation and deep learning. We detail the architecture, on how high level abilities are connected with low level sub-functions. Finally we present first experimental results with a Pepper humanoid.

show abstract

“…Let us also cite the view on the research on MRS by Chitic, Ponage and Simonin (2014) [29]: "Despite many years of work in robotics, there is still a lack of established software architecture and middleware, in particular for large scale multi-robots systems. Many research teams are still writing specific hardware orientated software that is very tied to a robot.…”

Section: Motivations and Related Workmentioning

confidence: 99%

SO-MRS: A Multi-robot System Architecture Based on the SOA Paradigm and Ontology

Skarzynski

Stępniak

Bartyna

et al. 2018

Towards Autonomous Robotic Systems

View full text Add to dashboard Cite

A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic functionality. The architecture is based on the paradigm of Service Oriented Architecture (SOA), and a generic representation (ontology) of the environment. A device (e.g. robot) is seen as a collection of its capabilities exposed as services. Generic protocols for publishing, discovering, arranging services are proposed for creating composite services that can accomplish complex tasks in an automatic way. Also generic protocols for execution of composite services are proposed along with simple protocols for monitoring the executions, and for recovery from failures. A software platform built on a multi-robot system (according to the proposed architecture) is a multi-agent system.

show abstract

Are Middlewares Ready for Multi-robots Systems?

Cited by 13 publications

References 16 publications

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

SO-MRS: A Multi-robot System Architecture Based on the SOA Paradigm and Ontology

Contact Info

Product

Resources

About