Robot behavior engineering using DD-Designer

Bredenfeld, Ansgar; Indiveri, Giovanni

doi:10.1109/robot.2001.932554

Cited by 14 publications

(7 citation statements)

References 10 publications

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“…Except from recombining already existing modules, own modules can be written in C++ by filling a module-template with user-specific code. With this method, we extended the ICON-NECT framework and added more robot-specific software modules to the library such as the color vision library AISVision [20], integration of OpenCV [19], an interface to matlab [12], a corba server [10], a module for integration of Dual Dynamics behaviors [3], or a simulator module based on ODE [18]. For each new module, we write an html documentation, and construct a small, self-explaining example graph.…”

Section: Software Frameworkmentioning

confidence: 99%

The VolksBot Concept – Rapid Prototyping for real-life Applications in Mobile Robotics (Das VolksBot Konzept – Ein Baukastensystem für anwendungsnahes Rapid-Prototyping mobiler Roboter)

Wisspeintner¹,

Bose²

2005

It - Information Technology

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VolksBot is a modular mobile robot construction kit, developed during the last 3 years to fit the needs in research and education as well as in application-based rapid prototyping. The component-based approach offers a plugin architecture with open interfaces in electronic hardware, software and mechanics. The lean and open structure fosters reusability of existing modules, both in hardware and software. Initially this concept was successfully applied to indoor applications. The article addresses this concept and shows how it was extended to fit the higher demands of reallife scenarios like outdoor or rough terrain. As a result, the VolksBot RT (Rough Terrain) construction kit is presented. Examples are given, how domain-specific rapid prototyping of variants of such platforms could be achieved in the fields of Urban Search and Rescue and Autonomous Transportation.Zusammenfassung VolksBot ist ein modularer Baukasten für mobile Roboter, welcher während der vergangenen drei Jahre speziell für den Einsatz in Forschung, Ausbildung und die schnelle Realisierung anwendungsnaher Prototypen entwickelt wurde. Der komponentenbasierte Ansatz bietet eine Plug-In-Architektur mit offenen Schnittstellen in Elektronik, Software und Mechanik. Die schlanke und offene Struktur fördert die Wiederverwendbarkeit bestehender Komponenten sowohl in Hardware als auch in Software. Zunächst wurde das Konzept für Indoor-Anwendungen eingesetzt. Der Artikel beschreibt das Konzept und zeigt wie es erweitert wurde, um den höheren Ansprüchen realitätsnaher Szenarien wie ,,Außeneinsatz" oder ,,schwieriges Gelände" gerecht zu werden. Als Ergebnis wird der VolksBot RT (Rough Terrain) Baukasten vorgestellt. Anhand von Beispielen wird gezeigt, wie in sehr kurzer Zeit unterschiedliche Robotervarianten für die Einsatzbereiche ,,Rettungsrobotik" und ,,Autonomer Personentransport" auf Basis dieses Baukastenkonzeptes entstanden.

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Section: Software Frameworkmentioning

confidence: 99%

The VolksBot Concept – Rapid Prototyping for real-life Applications in Mobile Robotics (Das VolksBot Konzept – Ein Baukastensystem für anwendungsnahes Rapid-Prototyping mobiler Roboter)

Wisspeintner¹,

Bose²

2005

It - Information Technology

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“…The behavior system of the goalie consists essentially of a two-dimensional controller, which tries to maintain a fixed distance to the back of the goal and a certain angle to the visible ball [7]. If the robot should be hit by opponent robots thus losing its position in front of the goal, a homing behavior is triggered in order to recover the correct position.…”

Section: Behavior Skillsmentioning

confidence: 99%

“…All these behavior systems are developed, simulated and tested using our integrated design environment. Although the environment was originally targeted to design control systems using the Dual Dynamics architecture, it proved to be flexible enough to specify and simulate "classical" controllers and to integrate them seamlessly into a behavior-based architecture [7].…”

Section: Behavior Skillsmentioning

confidence: 99%

GMD-Robots

Bredenfeld¹,

Becanovic²,

Christaller³

et al. 2002

RoboCup 2001: Robot Soccer World Cup V

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“…Existing simulation tools for the F2000 league usually are rather specialized for a certain robot architecture of one team, restricted to a certain software language or deeply interwoven within the team's software structure [1] . Even if a certain adaptability to different kinds of robot setups or robot control properties partially was considered within some software designs [2], usually a lot of work still has to be spent to adapt the software to the individual needs of one team without any general benefit for other teams.…”

Section: Introductionmentioning

confidence: 99%

A Plugin-Based Architecture for Simulation in the F2000 League

Kleiner

Buchheim

2004

RoboCup 2003: Robot Soccer World Cup VII

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Simulation has become an essential part in the development process of autonomous robotic systems. In the domain of robotics, developers often are confronted with problems like noisy sensor data, hardware malfunctions and scarce or temporarily inoperable hardware resources. A solution to most of the problems can be given by tools which allow the simulation of the application scenario in varying degrees of abstraction and the suppression of unwanted features of the domain (like e.g. sensor noise). The RoboCup scenario of autonomous mobile robots playing soccer is one such domain where the above mentioned problems typically arise. In this work we will present a flexible simulation platform for the RoboCup F2000 league developed as a joint open source project by the universities of Freiburg [14] and Stuttgart [8] which achieves a maximum degree of modularity by a plugin based architecture and allows teams to easily develop and share software modules for the simulation of different sensors, kinematics and even complete player behaviors. Moreover we show how plugins can be utilized to implement benchmark tasks for multi robot learning and give an example that demonstrates how the generic plugin approach can be extended towards the implementation of hardware independent algorithms for robot localization.

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Robot behavior engineering using DD-Designer

Cited by 14 publications

References 10 publications

The VolksBot Concept – Rapid Prototyping for real-life Applications in Mobile Robotics (Das VolksBot Konzept – Ein Baukastensystem für anwendungsnahes Rapid-Prototyping mobiler Roboter)

The VolksBot Concept – Rapid Prototyping for real-life Applications in Mobile Robotics (Das VolksBot Konzept – Ein Baukastensystem für anwendungsnahes Rapid-Prototyping mobiler Roboter)

GMD-Robots

A Plugin-Based Architecture for Simulation in the F2000 League

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