This article discusses the problem of deploying component-based software for a robotic system, including both the initial deployment and re-deployment at run-time to account for changing requirements and conditions. We begin by evaluating a set of tools used for all or part of the deployment activity. The evaluated tools are the OMG DEPL specification, Chef, Ansible, Salt, Puppet, roslaunch and Orocos Deployer/ROCK. These tools were chosen to cover a range of capabilities and styles. The evaluation identifies a set of core roles found in the deployment activity, and based on this we propose a reference architecture for a set of tools that satisfy the deployment activity. This reference architecture provides a foundation for future work in developing and evaluating tools that can be used in deployment.
{"title":"A Reference Architecture for Deploying Component-Based Robot Software and Comparison with Existing Tools","authors":"N. Hochgeschwender, G. Biggs, H. Voos","doi":"10.1109/IRC.2018.00026","DOIUrl":"https://doi.org/10.1109/IRC.2018.00026","url":null,"abstract":"This article discusses the problem of deploying component-based software for a robotic system, including both the initial deployment and re-deployment at run-time to account for changing requirements and conditions. We begin by evaluating a set of tools used for all or part of the deployment activity. The evaluated tools are the OMG DEPL specification, Chef, Ansible, Salt, Puppet, roslaunch and Orocos Deployer/ROCK. These tools were chosen to cover a range of capabilities and styles. The evaluation identifies a set of core roles found in the deployment activity, and based on this we propose a reference architecture for a set of tools that satisfy the deployment activity. This reference architecture provides a foundation for future work in developing and evaluating tools that can be used in deployment.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122430584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
S. Zanlongo, Franklin Abodo, P. Long, T. Padır, Leonardo Bobadilla
There is a growing need for robots to perform complex tasks autonomously. However, there remain certain tasks that cannot - or should not - be completely automated. While these tasks may require one or several operators, we can oftentimes schedule when an operator should assist. We build on our previous work to present a methodology for allocating operator attention across multiple robots while attempting to minimize the execution time of the robots involved. In this paper, we: 1) Analyze of the complexity of this problem, 2) Provide a scalable methodology for designing robot policies so that few operators can oversee many robots, 3) Describe a methodology for designing both policies and robot trajectories to permit operators to assist many robots, and 4) Present simulation and hardware experiments demonstrating our methodologies.
{"title":"Multi-robot Scheduling and Path-Planning for Non-overlapping Operator Attention","authors":"S. Zanlongo, Franklin Abodo, P. Long, T. Padır, Leonardo Bobadilla","doi":"10.1109/IRC.2018.00021","DOIUrl":"https://doi.org/10.1109/IRC.2018.00021","url":null,"abstract":"There is a growing need for robots to perform complex tasks autonomously. However, there remain certain tasks that cannot - or should not - be completely automated. While these tasks may require one or several operators, we can oftentimes schedule when an operator should assist. We build on our previous work to present a methodology for allocating operator attention across multiple robots while attempting to minimize the execution time of the robots involved. In this paper, we: 1) Analyze of the complexity of this problem, 2) Provide a scalable methodology for designing robot policies so that few operators can oversee many robots, 3) Describe a methodology for designing both policies and robot trajectories to permit operators to assist many robots, and 4) Present simulation and hardware experiments demonstrating our methodologies.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115698892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Efficient storage and querying of long-term human-robot interaction data requires application developers to have an in-depth understanding of the involved domains. It is an error prone task that can immensely impact the interaction experience of humans with robots and artificial agents. In the development cycle of HRI applications, queries towards storage solutions are often created once, copied into according components, and are rarely revisited. Beyond possible syntactical errors (especially impacting query design time), any change in the underlying storage solution structure results in semantic errors at run time which are not easy to spot in existing applications. To address this issue, we present a model-driven software development approach to create a long-term storage system to be used in highly interactive HRI scenarios. We created multiple domain specific languages that allow us to model the domain and seamlessly embed its concepts into a query language. Along with corresponding model-to-model and model-to-text transformations we generate a fully integrated workbench facilitating data storage and retrieval. It supports developers in the query design process and allows in-tool query execution without the need to have prior in-depth knowledge of the domain. We evaluated our work in an extensive user study and can show that the generated tool yields multiple advantages compared to the usual query design approach.
{"title":"A Model Driven Approach for Eased Knowledge Storage and Retrieval in Interactive HRI Systems","authors":"N. Köster, S. Wrede, P. Cimiano","doi":"10.1109/IRC.2018.00025","DOIUrl":"https://doi.org/10.1109/IRC.2018.00025","url":null,"abstract":"Efficient storage and querying of long-term human-robot interaction data requires application developers to have an in-depth understanding of the involved domains. It is an error prone task that can immensely impact the interaction experience of humans with robots and artificial agents. In the development cycle of HRI applications, queries towards storage solutions are often created once, copied into according components, and are rarely revisited. Beyond possible syntactical errors (especially impacting query design time), any change in the underlying storage solution structure results in semantic errors at run time which are not easy to spot in existing applications. To address this issue, we present a model-driven software development approach to create a long-term storage system to be used in highly interactive HRI scenarios. We created multiple domain specific languages that allow us to model the domain and seamlessly embed its concepts into a query language. Along with corresponding model-to-model and model-to-text transformations we generate a fully integrated workbench facilitating data storage and retrieval. It supports developers in the query design process and allows in-tool query execution without the need to have prior in-depth knowledge of the domain. We evaluated our work in an extensive user study and can show that the generated tool yields multiple advantages compared to the usual query design approach.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"2676 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128760958","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Fog computing has been introduced recently to support the Internet of Things (IoT). It can provide many advantages for IoT applications. These advantages include support for low latency needs, mobility, location awareness, scalability, and efficient integration with other systems such as cloud computing. Fog computing can also provide many advantages for different types of systems like multi-robot systems, which we investigate in this paper. In addition, we study the potential services fog computing can provide for multi-robot system applications and discuss the different issues involved in utilizing fog computing for multi-robot systems.
{"title":"Utilizing Fog Computing for Multi-robot Systems","authors":"N. Mohamed, J. Al-Jaroodi, I. Jawhar","doi":"10.1109/IRC.2018.00023","DOIUrl":"https://doi.org/10.1109/IRC.2018.00023","url":null,"abstract":"Fog computing has been introduced recently to support the Internet of Things (IoT). It can provide many advantages for IoT applications. These advantages include support for low latency needs, mobility, location awareness, scalability, and efficient integration with other systems such as cloud computing. Fog computing can also provide many advantages for different types of systems like multi-robot systems, which we investigate in this paper. In addition, we study the potential services fog computing can provide for multi-robot system applications and discuss the different issues involved in utilizing fog computing for multi-robot systems.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125751287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We introduce a system that exploits a Pepper humanoid robot acting as a playfellow in a word-play game. The robot can play a portmanteau game by directly interacting with children, and it exploits a conversation engine, a portmanteau creation engine, and a definition engine. The humanoid can play the role of either an answerer or a generator of new words.
{"title":"A Social Humanoid Robot as a Playfellow for Vocabulary Enhancement","authors":"Daniele Schicchi, G. Pilato","doi":"10.1109/IRC.2018.00044","DOIUrl":"https://doi.org/10.1109/IRC.2018.00044","url":null,"abstract":"We introduce a system that exploits a Pepper humanoid robot acting as a playfellow in a word-play game. The robot can play a portmanteau game by directly interacting with children, and it exploits a conversation engine, a portmanteau creation engine, and a definition engine. The humanoid can play the role of either an answerer or a generator of new words.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115139653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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