Generic Architecture for Modular Real-time Systems in Robotics

Schöpping, Thomas; Korthals, Timo; Hesse, Marc; Rückert, Ulrich

doi:10.5220/0006899304030410

Cited by 1 publication

(3 citation statements)

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“…The research on modular architectures is a well-established research topic (e.g., presented in [12]). In 1998, Mark W. Maier [2] published architecting principles for systems-of-systems.…”

Section: Architectures For Robotic Systemsmentioning

confidence: 99%

“…Furthermore, the communication on the modular robot (local area) should be done in a bus network topology and not with a point-to-point connection. This makes it easy to add new components to the system, without changing the network topology [12]. Another advantage of a bus is that watchdogs which are listening to the whole (local) robot agent's communication for analysis or error-detection features can be added.…”

Section: Communicationsmentioning

confidence: 99%

“…In [12], the importance of the concept of modularity, especially in modern robotics, is described. Robots need to adapt to future tasks or new environments (e.g., by connection of a new sensor to recognize objects) to be future-proof.…”

Section: Modularitymentioning

confidence: 99%

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Concepts of a Modular System Architecture for Distributed Robotic Systems

2019

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Modern robots often use more than one processing unit to solve the requirements in robotics. Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks. The use of multiple processing units leads to a distributed system within one single robot. Therefore, the system architecture is even more important than in single-computer robots. The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator-Controller Module (OCM). This article describes the adaption of the distributed OCM for mobile robots considering the requirements on such robots, including, for example, real-time and safety constraints. The presented architecture splits the system hierarchically into a three-layer structure of controllers and operators. The controllers interact directly with all sensors and actuators within the system. For that reason, hard real-time constraints need to comply. The reflective operator, however, processes the information of the controllers, which can be done by model-based principles using state machines. The cognitive operator is used to optimize the system. The article also shows the exemplary design of the DAEbot, a self-developed robot, and discusses the experience of applying these concepts on this robot.

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“…The research on modular architectures is a well-established research topic (e.g., presented in [12]). In 1998, Mark W. Maier [2] published architecting principles for systems-of-systems.…”

Section: Architectures For Robotic Systemsmentioning

confidence: 99%

Section: Communicationsmentioning

confidence: 99%