Design of service robots

Iborra, Andrés; Cáceres, Diego Alonso; Ortiz, Francisco; Franco, Juan Ángel Pastor; Palma, Pedro Sánchez; Álvarez, Bárbara

doi:10.1109/mra.2008.931635

Cited by 46 publications

(22 citation statements)

References 7 publications

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“…In parallel, Model-Driven Engineering (MDE) and Software Product Lines (SPL) techniques have been adopted to support the application of CBSE in robotic systems development. For instance, Iborra et al [21] associate MDE and CBSE with reference architectures in a process to design robotic systems. The BRICS project [4] uses CBSE and SPL for reducing the development effort of engineering robotic systems.…”

Section: Software Reuse: From Libraries To Servicesmentioning

confidence: 99%

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

Oliveira

Amaral

Martins

et al. 2015

Communications in Computer and Information Science

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Abstract. Robotics has played an increasingly important role in several sectors of the society. Nowadays, robots are not only used to support activities in factories, but also to assist house cleaning, border surveillance, and even surgeries. The variety of application domains and the rising complexity are challenging the design of robotic systems that control such robots. In this perspective, Service-Oriented Architecture (SOA) has been adopted as a promising architectural style to design large, complex robotic systems in a flexible and reusable manner. Several Service-Oriented Robotic Systems (SORS) have been developed in the recent years and a large number of services are available for reuse. Nevertheless, none of the environments dedicated to the development of SORS provide an efficient mechanism for publishing and discovering services. As a consequence, services for SORS have to be manually searched, reducing significantly the potential of reuse and productivity provided by SOA. This paper presents RoboSeT, a mechanism that supports cataloging and discovery of services for robotic systems. RoboSeT is based on semantic search and classifies the services using a taxonomy of the robotics domain. Results of our case study indicate that RoboSeT facilitates the development of robotic systems, since it presents the potential to widely promote reusability of services for SORS.

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Section: Software Reuse: From Libraries To Servicesmentioning

confidence: 99%

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

Oliveira

Amaral

Martins

et al. 2015

Communications in Computer and Information Science

View full text Add to dashboard Cite

show abstract

“…Reuse of software in applications of robots is limited which is a key problem in software development of robotic system. So, software engineering techniques are implemented in industrial applications [30].…”

Section: Current Traditions In Various Applicationsmentioning

confidence: 99%

A Venture to the Latest Robotic Technological Research: A Review

Y¹

2013

Adv Robot Autom

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“…3 illustrates the fault manager internal structure with the fault processing flow. Note that the fault manager is itself designed as a component, a socalled system component 1 . Therefore, the fault manager can receive/send fault events from/to user components through input/output event ports.…”

Section: The Proposed Fault-tolerant Framework Extensionmentioning

confidence: 99%

A Framework-Based Approach for Fault-Tolerant Service Robots

Ahn

Loh

Yeo

2012

International Journal of Advanced Robotic Systems

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Recently the component-based approach has become a major trend in intelligent service robot development due to its reusability and productivity. The framework in a component-based system should provide essential services for application components. However, to our knowledge the existing robot frameworks do not yet support fault tolerance service. Moreover, it is often believed that faults can be handled only at the application level. In this paper, by extending the robot framework with the fault tolerance function, we argue that the framework-based fault tolerance approach is feasible and even has many benefits, including that : 1) the system integrators can build fault tolerance applications from non-fault-aware components; 2) the constraints of the components and the operating environment can be considered at the time of integration, which -cannot be anticipated eaily at the time of component development; 3) consistency in system reliability can be obtained even in spite of diverse application component sources. In the proposed construction, we build XML rule files defining the rules for probing and determining the fault conditions of each component, contamination cases from a faulty component, and the possible recovery and safety methods. The rule files are established by a system integrator and the fault manager in the framework controls the fault tolerance process according to the rules. We demonstrate that the fault-tolerant framework can incorporate widely accepted fault tolerance techniques. The effectiveness and real-time performance of the framework-based approach and its techniques are examined by testing an autonomous mobile robot in typical fault scenarios.

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Design of service robots

Cited by 46 publications

References 7 publications

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

A Venture to the Latest Robotic Technological Research: A Review

A Framework-Based Approach for Fault-Tolerant Service Robots

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