YARP: Yet Another Robot Platform

Metta, Giorgio; Fitzpatrick, Paul; Natale, Lorenzo

doi:10.5772/5761

Cited by 491 publications

(319 citation statements)

References 4 publications

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“…YARP [2] is a framework mainly used for the iCub robot. In contrast to the aforementioned frameworks, communication in YARP is dynamically typed, employing a custom data representation (bottles) and serialization approach.…”

Section: Related Workmentioning

confidence: 99%

“…A successful integration relies on an appropriate design of the functional architecture but often also more technical aspects slow down and complicate the development of integrated systems. As such, a major practical issue is the diversity of existing development frameworks like ROS [1], YARP [2], OROCOS [3] or OpenRTM-aist [4]. Even though most of the recent frameworks use a component-based approach and hence are composed of generally reusable building blocks, the created components can only be reused easily within the framework they have been developed for.…”

Section: Introductionmentioning

confidence: 99%

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A Meta-model and Toolchain for Improved Interoperability of Robotic Frameworks

Wienke

Nordmann

Wrede

2012

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. The emerging availability of high-quality software repositories for robotics promises to speed up the construction process of robotic systems through systematic reuse of software components. However, to reuse components without modification, compatibility at the interface level needs to be created, which is particularly hard if components were implemented in different robotic frameworks. In this paper we propose an approach using model-based techniques for improving component reusability. We specifically address data type compatibility in a structured way through the development of a generic meta-model capable of representing data types from different frameworks and their relations. Based on this model a code generator emits serialization code which makes it possible to seamlessly reuse the existing data types of different frameworks. The application of this approach is exemplified by connecting the YARP-based iCub simulation with a component architecture using a current robotics middleware. Based on our experiences we describe requirements on robotics frameworks to further increase the level of interoperability between available components.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Meta-model and Toolchain for Improved Interoperability of Robotic Frameworks

Wienke

Nordmann

Wrede

2012

Simulation, Modeling, and Programming for Autonomous Robots

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“…In this work we present a software framework based on the YARP middleware [10]. YARP was initially written for people working with humanoid robots hence involving a lot of hardware devices to be controlled.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments

Murtra

Tur

Sandoval

et al. 2008

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. This paper presents the software being developed at IRI (Institut de Robòtica i Informàtica Industrial) for mobile robot autonomous navigation in the context of the european project URUS (Ubiquitous Robots in Urban Settings). In order that a deployed sensor network and robots operating in the environment cooperate in terms of information sharing, main requirements are real-time performance and the integration of information coming from remote machines not onboard the robot. Moreover, the project involves a group of eleven industrial and academic partners, therefore software integration issues are critical. The proposed software framework is based on the YARP middleware and has been tested in real and simulated experiments.

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“…ROS is a is a distributed framework of processes that enables executables to be individually designed and loosely coupled at runtime, and aims to support multiple textual programming languages. Yet Another Robot Platform (YARP) also supports building a robot control system as a collection of programs communicating in a peer-to-peer way, its main focus is on long-term software development [8,9]. Another platform is the Open RObot COntrol Software (OROCOS) with focus on thread-safe and real time aspects between tasks [10].…”

Section: Introductionmentioning

confidence: 99%

User-Friendly Robot Environment for Creation of Social Scenarios

Lourens¹,

Barakova

2011

Lecture Notes in Computer Science

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Abstract. This paper proposes a user-friendly framework for designing robot behaviors by users with minimal understanding of programming. It is a step towards an end-user platform which is meant to be used by domain specialists for creating social scenarios, i.e. scenarios in which not high precision of movement is needed but frequent redesign of the robot behavior is a necessity. We show by a hand shaking experiment how convincing it is to construct robot behavior in this framework.

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YARP: Yet Another Robot Platform

Cited by 491 publications

References 4 publications

A Meta-model and Toolchain for Improved Interoperability of Robotic Frameworks

A Meta-model and Toolchain for Improved Interoperability of Robotic Frameworks

Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments

User-Friendly Robot Environment for Creation of Social Scenarios

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