Title :
DARC: Next generation decentralized control framework for robot applications
Author :
Kjærgaard, Morten ; Andersen, Nils Axel ; Ravn, Ole
Author_Institution :
DTU Electr. Eng., Tech. Univ. of Denmark, Lyngby, Denmark
Abstract :
This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.
Keywords :
decentralised control; low-power electronics; peer-to-peer computing; robots; robust control; DARC; automatic run-time supervision; control system; decentralized peer-to-peer architecture; low powered embedded hardware; next generation decentralized control framework; robot application; robustness; serious commercial robot; transparent network distribution; Control systems; Data models; Libraries; Peer-to-peer computing; Real-time systems; Robot sensing systems;
Conference_Titel :
Control and Automation (ICCA), 2013 10th IEEE International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-4707-5
DOI :
10.1109/ICCA.2013.6565134
