Toward developing reusable software components for robotic applications

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-11-29 DOI:10.1109/IROS.2001.976425

I. Nesnas, R. Volpe, T. Estlin, H. Nayar, R. Petras, D. Mutz

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引用次数: 39

Abstract

We present an overview of the CLARAty architecture which aims at developing reusable software components for robotic systems. These components are to support autonomy software which plans and schedules robot activities. CLARAty modifies the conventional 3-level robotic architecture into a 2-layered design: the functional layer and the decision layer. The former provides a representation of the system components and an implementation of their functionalities. The latter is the decision-making engine that drives the former. It globally reasons about the goals, system resources, and system state. The functional layer is composed of a set of interrelated object-oriented hierarchies consisting of active and passive objects that represent the system abstraction levels. We present an overview of the design of the functional layer. It is decomposed into a set of reusable core components and a set of extended components that adapt the reusable set to different hardware implementations. The reusable components provide interface definitions and implementations of basic functionality, provide local executive capabilities, manage local resources, and support decision layer queries.

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为机器人应用开发可重用的软件组件

我们介绍了旨在为机器人系统开发可重用软件组件的clarity架构的概述。这些组件将支持计划和安排机器人活动的自主软件。clarity将传统的3层机器人架构修改为2层设计:功能层和决策层。前者提供了系统组件的表示及其功能的实现。后者是驱动前者的决策引擎。它对目标、系统资源和系统状态进行全局推理。功能层由一组相互关联的面向对象层次结构组成，这些层次结构由表示系统抽象级别的主动和被动对象组成。我们概述了功能层的设计。它被分解为一组可重用的核心组件和一组扩展组件，扩展组件使可重用组件适应不同的硬件实现。可重用组件提供基本功能的接口定义和实现，提供本地执行功能，管理本地资源，并支持决策层查询。

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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