Human Centered Robot Systems pp 1-9
System Integration Supporting Evolutionary Development and Design
With robotic systems entering our daily life, they have to become more flexible and subsuming a multitude of abilities in one single integrated system. Subsequently an increased extensibility of the robots’ system architectures is needed. The goal is to facilitate a long-time evolution of the integrated system in-line with the scientific progress on the algorithmic level. In this paper we present an approach developed for an event-driven robot architecture, focussing on the coordination and interplay of new abilities and components. Appropriate timing, sequencing strategies, execution guaranties, and process flow synchronization are taken into account to allow appropriate arbitration and interaction between components as well as between the integrated system and the user. The presented approach features dynamic reconfiguration and global coordination based on simple production rules. These are applied first time in conjunction with flexible representations in global memory spaces and an event-driven architecture. As a result a highly adaptive robot control compared to alternative approaches is achieved, allowing system modification during runtime even within complex interactive human-robot scenarios.
Unable to display preview. Download preview PDF.
- 1.Anderson, J.R.: Rules of the Mind. Lawrence Erlbaum Associates Inc., Philadelphia (1993)Google Scholar
- 2.Beuter, B., Spexard, T., Lütkebohle, I., Peltason, J., Kummert, F.: Where is this? - gesture based multimodal interaction with an anthropomorphic robot. In: Proc. of Int. Conf. on Humanoid Robots, Daejeon, Korea (2008)Google Scholar
- 3.Booij, O., Kröse, B., Peltason, J., Spexard, T.P., Hanheide, M.: Moving from augmented to interactive mapping. In: Proc. of Robotics: Science and Systems Conf., Zurich (2008)Google Scholar
- 4.Goldin, D., Srinivasa, S., Srikanti, V.: Active databases as information systems. In: Proc. of Int. Database Engineering and Applications Symposium, Washington, DC, pp. 123–130 (2004)Google Scholar
- 5.Hawes, N., Wyatt, J., Sloman, A.: Exploring design space for an integrated intelligent system. In: Knowledge-Based Systems (2009)Google Scholar
- 6.Hegel, F., Spexard, T.P., Vogt, T., Horstmann, G., Wrede, B.: Playing a different imitation game: Interaction with an empathic android robot. In: Proc. of Int. Conf. on Humanoid Robots, pp. 56–61 (2006)Google Scholar
- 8.Lütkebohle, I., Schäfer, J., Wrede, S.: Facilitating re-use by design: A filtering, transformation, and selection architecture for robotic software systems. In: Proc. of Workshop an Software Development in Robotics (2009)Google Scholar
- 9.Peltason, J., Siepmann, F.H., Spexard, T.P., Wrede, B., Hanheide, M., Topp, E.A.: Mixed-initiative in human augmented mapping. In: Proc. of Int. Conf. on Robotics and Automation (to appear)Google Scholar
- 10.Qiao, Y., Zhong, K., Wang, H., Li, X.: Developing event-condition-action rules in real-time active database. In: Proc. of Symposium on Applied computing, New York, USA, pp. 511–516 (2007)Google Scholar
- 11.Santoro, C.: An erlang framework for autonomous mobile robots. In: Proc. of SIGPLAN workshop on ERLANG, New York, USA, pp. 85–92 (2007)Google Scholar
- 12.Schmidt-Rohr, S.R., Knoop, S., Lösch, M., Dillmann, R.: A probabilistic control architecture for robust autonomy of an anthropomorphic service robot. In: International Conference on Cognitive Systems, Karlsruhe, Germany (2008)Google Scholar
- 13.Wrede, S.: An information-driven architecture for cognitive systems research. Ph.D. dissertation, Technical Faculty, Bielefeld University (2009)Google Scholar