Title :
Software integration: lessons learned with the ETHNOS environment
Author :
Piaggio, Maurizio
Author_Institution :
Genoa Univ., Italy
Abstract :
This paper describes our experiences in the integration of different software components for autonomous robots. In particular, it presents ETHNOS II, a real-time multithreaded programming environment, specifically designed to facilitate the development of distributed robotic systems. ETHNOS II is composed of an object oriented API-Application Programming Interface-and a dedicated operating system built on top of a RT POSIX OS. The ETHNOS characteristics (in particular the communication services provided) are discussed, focusing on their properties and on their effects on the resulting system. Examples of integration will be provided, and the results experimentally evaluated on real robots
Keywords :
application program interfaces; distributed control; integrated software; intelligent control; multi-threading; object-oriented programming; operating systems (computers); programming environments; real-time systems; robot programming; ETHNOS II; RT POSIX OS; application programming interface; autonomous robots; communication services; dedicated operating system; distributed robotic systems; object-oriented API; real-time multithreaded programming environment; software integration; Application software; Cognitive robotics; Computer architecture; Intelligent robots; Object oriented programming; Operating systems; Programming environments; Protocols; Real time systems; Robot programming;
Conference_Titel :
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Print_ISBN :
0-7803-4423-5
DOI :
10.1109/ISIC.1998.713682
