ABSTRAC
Building complex controllers is a major challenge and it is widely accepted that object technology can help with the problem. This is of special relevance in the field of complex robot control, in particular when distribution is necessary. CORBA is a suitable technology for deployment and is well demon- strated in the experimental field and in commercial robots. In this paper we describe the implementation of a real-time object wrapper for a mobile robot using Real-time CORBA technology. This type of wrapping enables the implementation of networked robot control systems with increased degrees of predictability.
Keywords: Robot control software, distributed control, object wrappers, CORBA, Real-time CORBA.
INTRODUCTION
The nature of applied research in intelligent robot controllers makes having a versatile soft- ware architecture a real need for exploring al- ternative designs in robotic mind construction. Flexibility, modularity, maintainability and even hot-replaceability of components are major non- functional needs for such systems. While some effort has been spent on genericity is robot control system construction, most research has been cen- tered around the provision of ultimate architec- tures and reusable software components to fulfill specific missions in the robot controller. Less effort has been put, however, in the development of a robust and flexible underlying software platform where to explore such designs and components.
DOWNLOAD.....
Ricardo Sanz∗,1 Adolfo Hernando∗ Carlos Mart ́ınez∗ Ignacio L ́opez∗
∗ Autonomous Systems Laboratory Universidad Polit ́ecnica de Madrid, Spain
No comments:
Post a Comment