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Reusable architecture and tools for teams of lightweight heterogeneous robots

Friedmann, Martin and Kiener, Jutta and Petters, Sebastian and Thomas, Dirk and Stryk, Oskar von (2006):
Reusable architecture and tools for teams of lightweight heterogeneous robots.
Salvador, Brazil, In: Proc. 1st IFAC Workshop on Multivehicle Systems, Salvador, Brazil, [Conference or Workshop Item]

Abstract

The software framework RoboFrame has been designed to meet the special requirements for teams of lightweight autonomous heterogeneous robot systems. Due to platform abstraction and modern object oriented design, it allows the reuse of components of common robot control software. It can also efficiently be implemented on new platforms and enables different control architectures for different tasks. For the exemplary application in autonomous robot soccer teams configurable and portable algorithms for vision, world modeling, behavior and motion control have been developed on top of the framework. For debugging, controlling and monitoring, an extendable graphical user interface and a generic simulator package have been implemented around the framework. Based on these instruments, different applications for homogeneous and heterogeneous robot teams can be realized in short time.

Item Type: Conference or Workshop Item
Erschienen: 2006
Creators: Friedmann, Martin and Kiener, Jutta and Petters, Sebastian and Thomas, Dirk and Stryk, Oskar von
Title: Reusable architecture and tools for teams of lightweight heterogeneous robots
Language: English
Abstract:

The software framework RoboFrame has been designed to meet the special requirements for teams of lightweight autonomous heterogeneous robot systems. Due to platform abstraction and modern object oriented design, it allows the reuse of components of common robot control software. It can also efficiently be implemented on new platforms and enables different control architectures for different tasks. For the exemplary application in autonomous robot soccer teams configurable and portable algorithms for vision, world modeling, behavior and motion control have been developed on top of the framework. For debugging, controlling and monitoring, an extendable graphical user interface and a generic simulator package have been implemented around the framework. Based on these instruments, different applications for homogeneous and heterogeneous robot teams can be realized in short time.

Place of Publication: Salvador, Brazil
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Proc. 1st IFAC Workshop on Multivehicle Systems
Event Location: Salvador, Brazil
Date Deposited: 09 Jul 2019 09:57
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