A Generative Approach to the Development of Autonomous Robot Software

Fourth IEEE International Workshop on Engineering of Autonomic and Autonomous Systems (EASe'07) Pub Date : 2007-03-26 DOI:10.1109/EASE.2007.2

P. Baer, R. Reichle, M. Zapf, T. Weise, K. Geihs

{"title":"A Generative Approach to the Development of Autonomous Robot Software","authors":"P. Baer, R. Reichle, M. Zapf, T. Weise, K. Geihs","doi":"10.1109/EASE.2007.2","DOIUrl":null,"url":null,"abstract":"The integration of new or existing software components into established architectures and the ability to deal with heterogeneity are key requirements for middleware and development frameworks for robotic systems. This paper presents SPICA, a software development framework for communication infrastructures of autonomous mobile robots. Utilizing the model-driven software development paradigm, communication and data flow can be defined on an abstract level. For this purpose, domain-specific languages and tools are provided that allow specification and generation of module communication infrastructures for communication between modules along with primitives for data management. The high-level platform-independent specifications are automatically transformed into low-level platform and programming language-specific source code. We illustrate the applicability of our approach with an elaborate example describing the design of a soccer robot architecture that has proven its strength during RoboCup 2006. Our experiences have revealed that SPICA is advantageous for prototyping as well as for building high performance systems","PeriodicalId":239972,"journal":{"name":"Fourth IEEE International Workshop on Engineering of Autonomic and Autonomous Systems (EASe'07)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fourth IEEE International Workshop on Engineering of Autonomic and Autonomous Systems (EASe'07)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EASE.2007.2","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 14

Abstract

The integration of new or existing software components into established architectures and the ability to deal with heterogeneity are key requirements for middleware and development frameworks for robotic systems. This paper presents SPICA, a software development framework for communication infrastructures of autonomous mobile robots. Utilizing the model-driven software development paradigm, communication and data flow can be defined on an abstract level. For this purpose, domain-specific languages and tools are provided that allow specification and generation of module communication infrastructures for communication between modules along with primitives for data management. The high-level platform-independent specifications are automatically transformed into low-level platform and programming language-specific source code. We illustrate the applicability of our approach with an elaborate example describing the design of a soccer robot architecture that has proven its strength during RoboCup 2006. Our experiences have revealed that SPICA is advantageous for prototyping as well as for building high performance systems

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

自主机器人软件开发的生成方法

将新的或现有的软件组件集成到已建立的体系结构中，以及处理异构性的能力是机器人系统的中间件和开发框架的关键要求。本文介绍了自主移动机器人通信基础设施的软件开发框架SPICA。利用模型驱动的软件开发范例，可以在抽象层次上定义通信和数据流。为此目的，提供了特定于领域的语言和工具，这些语言和工具允许规范和生成模块之间通信的模块通信基础结构，以及用于数据管理的原语。高级平台无关的规范自动转换为低级平台和编程语言特定的源代码。我们用一个详细的例子来说明我们的方法的适用性，这个例子描述了一个足球机器人架构的设计，这个架构在2006年机器人世界杯期间证明了它的实力。我们的经验表明，SPICA对于原型设计和构建高性能系统都是有利的

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

Fourth IEEE International Workshop on Engineering of Autonomic and Autonomous Systems (EASe'07)

自引率

0.00%

发文量