A software framework for robotic mediators in smart environments

  • Young-Ho Suh
  • Kang-Woo Lee
  • Eun-Sun ChoEmail author
Original Article


The experience of full automation without explicit user direction may induce anxiety among smart space users. The use of explicit mediators between users and fully automated systems may help to mitigate users’ anxiety. While robots mediators are one possible solution, several issues remain, including high complexity and limited collaboration between robots and smart space platforms, reducing overall system reliability. This paper proposes the Integrated Control Architecture for Robotic mediator in Smart environments (ICARS) as a solution to improve the integration and reliability of robot mediators within automated smart spaces. Assuming relatively thin network robots as robotic mediators to enable a wide distribution with less cost, ICARS provides a well-organized software framework consisting of three layers to integrate robots and smart spaces: a flexible communication/device model, an adaptive service model for the integrated robot control architecture, and a behavior-based high-level collaboration model. In this paper, we also present details of the design, implementation, and an application scenario conducted with ICARS. The results show that ICARS enables flexible integration of the diverse devices associated with robots and environments, adaptive service provision for collaborative services, and easier development of high-level collaborative applications with decent performance.


Smart environment Robotic mediator Collaboration Behavior Control architecture 



This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2015R1D1A1A09061480).


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Spatial Information Research SectionElectronics and Telecommunication Research Institute (ETRI)DaejeonRepublic of Korea
  2. 2.Department of Computer Science and EngineeringChungnam National UniversityDaejeonRepublic of Korea

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