Maria I Artigas, Rômulo T Rodrigues, Lars Vanderseypen, Herman Bruyninckx
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引用次数: 0
Abstract
This paper introduces software patterns (registration, acquire-release, and cache awareness) and data structures (Petri net, finite state machine, and protocol flag array) to support the coordinated execution of software activities (also called "components" or "agents"). Moreover, it presents and tests an implementation for Petri nets that supports real-time execution in shared memory for deployment inside one individual robot and separates event firing and handling, enabling distributed deployment between multiple robots. Experimental validation of the introduced patterns and data structures is performed within the context of activities for task execution, control and perception, and decision making for an application on coordinated navigation.
期刊介绍：
Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.
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