Design of real-time large scale robot software platform and its implementation in the remote-brained robot project

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI:10.1109/IROS.1996.568998

S. Kagami, Y. Tamiya, M. Inaba, H. Inoue

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引用次数: 8

Abstract

Constructing an environment for robot software research, which can program and experiment in various robot behaviors, design of a software development platform becomes important problem. This paper describes a design of "Software Platform" for real-time large scale robot software, and its implementation in the "Remote-Brained Robot Project". The Software Platform is designed as three layers, "MOTHER, BRAIN, SENSOR-MOTOR". MOTHER consists of tools to produce and evolve BRAIN programs. For tools and libraries in such platform, there are two major problems. One is, there is tradeoff relationship between "Extension" and "Share". A way of overcoming this problem is described. The other is, the methodology is needed between low-level real-time parallel environment monitoring program and high-level software that takes much time. A system developed for remote-brained robots and its application are described. This system aims at developing many sorts of brain architecture and high level software that consists of various flexible multiprocess network.

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实时大型机器人软件平台的设计及其在远程机器人项目中的实现

构建一个能够对机器人的各种行为进行编程和实验的机器人软件研究环境，软件开发平台的设计成为一个重要的问题。本文介绍了一种实时大型机器人软件“软件平台”的设计，并在“遥控机器人工程”中实现。软件平台设计为“母亲、大脑、传感器-运动”三层。MOTHER由产生和发展BRAIN程序的工具组成。对于这种平台上的工具和库，存在两个主要问题。一是“扩展”与“分享”之间存在权衡关系。本文描述了一种克服这一问题的方法。另一方面，底层实时并行环境监测程序与耗时较长的高级软件之间需要方法论的衔接。介绍了一种用于遥控机器人的系统及其应用。该系统旨在开发由各种灵活的多进程网络组成的多种脑结构和高级软件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

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