Advertisement

Stable Analysis Patterns for Robot Mobility

  • Davide Brugali
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 30)

Abstract

During the last few years, many ideas for software engineering (modularity, information hiding, Component-based development, and architectural styles) have progressively been introduced in the construction of robotic software systems, to simplify their development, and to improve their reusability. All of these techniques offer partial (sometimes overlapping) views and solutions to the problem of developing reusable software.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [Ark98]
    R.C. Arkin, Behavior-based robotics (intelligent robotics and autonomous agents), The MIT Press, 1998.Google Scholar
  2. [Bro91]
    R.A. Brooks, Intelligence without reason, in Proc. of the 12th Int. Joint Conference on Artificial Intelligence (1991).Google Scholar
  3. [CG00]
    M. Clien and M. Girou, Enduring business themes, Communications of the ACM 43 (2000), no. 5, 101–106.CrossRefGoogle Scholar
  4. [CHF05]
    Y. Chen, H.S. Hamza, and M.E. Fayad, A framework for developing design models with analysis and design patterns, The IEEE Int. Conference on Information Reuse and Integration IEEE IRI-2005, Las Vegas, 2005.Google Scholar
  5. [CHW98]
    J. Coplien, D. Hoffman, and D. Weiss, Commonality and variability in software engineering, IEEE Software 15 (1998), no. 6.Google Scholar
  6. [CZ00]
    R. Chrisley and T. Ziemke, Embodiment, Encyclopedia of Cognitive Sciences (2000).Google Scholar
  7. [FA01]
    M.E. Fayad and A. Altman, An introduction to software stability, Communications of the ACM 44 (2001), no. 9.Google Scholar
  8. [Fay02]
    M.E. Fayad, Accomplishing software stability, Communications of the ACM 45 (2002), no. 1.Google Scholar
  9. [GHJV95]
    E. Gamma, R. Helm, R. Johnson, and J. Vlissides, Design patterns: Elements of reusable object oriented software, Addison-Wesley, NY, 1995.Google Scholar
  10. [KDR04]
    K. Kawamura, W. Dodd, and P. Ratanaswasd, Robotic body-mind integration: next grand challenge in robotics, 13th IEEE Int. Workshop on Robot and Human Interactive Communication (ROMAN2004), September 2004.Google Scholar
  11. [Mat02]
    M. Mataric, Situated robotics, Encyclopedia of Cognitive Sciences (2002).Google Scholar
  12. [Sim69]
    H. A. Simon, The architecture of complexity, The Sciences of the Artificial (1969), 192–229.Google Scholar
  13. [BR05]
    D. Brugali and M. Reggiani, Software Stability in the Robotics Domain: Issues and Challenges. In Proceedings of the IEEE International Conference on Information Integration and Reuse (IRI2005), Las Vegas, Nevada, August 2005Google Scholar
  14. [BS06]
    D. Brugali and P. Salvaneschi, Stable Aspects in Robot Software Development, Journal on Advanced Robotic Systems, Vol.3, N.1, March 2006, pp. 17–22.Google Scholar
  15. [OSCAR]
    The OSCAR Project. Online resources at http://www.robotics.utexas.edu/rrg/research/oscarv.2/Google Scholar
  16. [OROCOS]
    The OROCOS Project. Online resources at http://www.orocos.orgGoogle Scholar
  17. [Nesnas06]
    I.A. Nesnas, R. Simmons, D. Gaines, C. Kunz, A. Diaz-Calderon, T. Estlin, R. Madison, J. Guineau, M. McHenry, I. Shu, and D. Apfelbaum, CLARAty: Challenges and Steps Toward Reusable Robotic Software, International Journal of Advanced Robotic Systems, Vol. 3, No. 1, pp. 023–030, 2006.Google Scholar
  18. [Otter96]
    M. Otter, H. Elmqvist, F.E. Cellier, Modeling of Multibody Systems with the Object-Oriented Modeling Language Dymola, Nonlinear Dynamics, Vol. 9, pp. 91–112, 1996CrossRefGoogle Scholar
  19. [SPK00]
    R. Sinha, C.J.J. Paredis, and P.K. Khosla, “Integration of Mechanical CAD and Behavioral Modeling,” IEEE/ACM Workshop on Behavioral Modeling and Simulation, Orlando, FL, USA, 2000.Google Scholar
  20. [PTKT02]
    Mitchell W. Pryor, Ross C. Taylor, Chetan Kapoor, and Delbert Tesar, Generalized Software Components for Reconfiguring Hyper-Redundant Manipulators, IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, Dec. 2002, pp. 475–478CrossRefGoogle Scholar
  21. [RML]
    The RoboML Project. Online resources available at: http://www.roboml.org/Google Scholar
  22. [BSK03]
    H. Bruyninckx, P. Soetens, and B. Koninckx, The Real-Time Motion Control Core of the Orocos Project, In Proceedings of the 2003 IEEE International Conference on Robotics & Automation, pages 797–802, Taipei, Taiwan, 2003.Google Scholar
  23. [NWBS03]
    A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, Won Soo Kim, CLARAty: An Architecture for Reusable Robotic Software, SPIE Aerosense Conference, Orlando, April 2003.Google Scholar
  24. [CLR]
    The CLARAty project. Online resources at http://claraty.jpl.nasa.govGoogle Scholar
  25. [DNNK06]
    A. Diaz-Calderon, I. A. D. Nesnas, H. Das Nayar, and W. S. Kim, Towards a Unified Representation of Mechanisms for Robotic Control Software, Journal on Advanced Robotic Systems, Vol.3, N.1, March 2006, pp. 61–66.Google Scholar
  26. [DDS]
    The DARTS/DShell Project. Online resources at http://dartslab.jpl.nasa.gov/ROAMS/index.phpGoogle Scholar
  27. [Jain91]
    A. Jain. Unified Formulation of Dynamics for Serial Rigid Multibody Systems, Journal of Guidance, Control and Dynamics, vol. 14, 1991, pp. 531–542.zbMATHCrossRefGoogle Scholar
  28. [YCLY01]
    Guilin Yang, I-Ming Chen, Wee Kiat Lim, Song Huat Yeo, Self-calibration of three-legged modular reconfigurable parallel robots based on leg-end distance errors, Robotica (2001) volume 19, pp. 187–198. Cambridge University PressCrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Davide Brugali
    • 1
  1. 1.Universitá degli Studi di BergamoItaly

Personalised recommendations