A multi-processing software infrastructure for robotic systems

Author

Jones, Andrew H. ; DeSouza, Guilherme Nelson ; Kak, Avinash C.

Author_Institution

Purdue Univ., West Lafayette, IN, USA

Volume

1

fYear

2001

fDate

2001

Firstpage

193

Abstract

Robotic systems and their software design are based on the same principles found in other computer applications. However, while many computer systems to date are deeply rooted in concepts such as multi-processing, multi-threads, modularity, etc., robotic systems are still limited by mono-processing, centralized designs. The paper addresses these limitations by proposing a new philosophy for robotic system software design - software infrastructure $that allows for the design of an efficient, modular, fault-tolerant, and distributed software architecture. Two examples of this infrastructure applied to mobile robot navigation are also discussed.

Keywords

client-server systems; message passing; mobile robots; multi-threading; multiprocessing programs; object-oriented methods; path planning; software architecture; software fault tolerance; mobile robot navigation; modular fault-tolerant distributed software architecture; multi-processing software infrastructure; software design; Application software; Cameras; Computer architecture; Mobile robots; Navigation; Robot vision systems; Software architecture; Software design; System software; Yarn;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932552

Filename

932552