Three-layered software architecture and its variability for teleoperated system

In a teleoperated system, robots are often required to easily change among various modes of operation; further, an efficient development of large-scale teleoperated systems is desired. Thus, we propose a three-layer software architecture implemented using a database node module (DNM). All modules are connected to a DNM, with connections among modules defined as virtual connections. It is possible to change connections during operation via the virtual connection of the DNM, and the DNM can achieve high-speed communication and high-speed connection changes. We examined the evaluation index of our module design using this architecture because module interface and function design influence the architecture. Finally, we confirmed that a robot based on our architecture worked in a real environment.