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Robotic Systems Architectures and Programming

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Springer Handbook of Robotics

Part of the book series: Springer Handbooks ((SHB))

Abstract

Robot software systems tend to be complex. This complexity is due, in large part, to the need to control diverse sensors and actuators in real time, in the face of significant uncertainty and noise. Robot systems must work to achieve tasks while monitoring for, and reacting to, unexpected situations. Doing all this concurrently and asynchronously adds immensely to system complexity.

The use of a well-conceived architecture, together with programming tools that support the architecture, can often help to manage that complexity. Currently, there is no single architecture that is best for all applications – different architectures have different advantages and disadvantages. It is important to understand those strengths and weaknesses when choosing an architectural approach for a given application.

This chapter presents various approaches to architecting robotic systems. It starts by defining terms and setting the context, including a recounting of the historical developments in the area of robot architectures. The chapter then discusses in more depth the major types of architectural components in use today – behavioral control (Chap. 13), executives, and task planners (Chap. 14) – along with commonly used techniques for interconnecting connecting those components. Throughout, emphasis will be placed on programming tools and environments that support these architectures. A case study is then presented, followed by a brief discussion of further reading.

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Abbreviations

AAAI:

American Association for Artificial Intelligence

AI:

artificial intelligence

AIS:

artificial intelligence system

API:

application programming interface

aRDnet:

agile robot development network

ATLANTIS:

a three layer architecture for navigating through intricate situations

AuRA:

autonomous robot architecture

BIP:

behavior-interaction-priority

BRICS:

best practice in robotics

CASPER:

continuous activity scheduling, planning, execution and replanning

CIRCA:

cooperative intelligent real-time control architecture

CLARAty:

coupled layered architecture for robot autonomy

CLEaR:

closed-loop execution and recovery

CNRS:

Centre National de la Recherche Scientifique

CORBA:

common object request broker architecture

common object request broker architecture

CSAIL:

Computer Science and Artificial Intelligence Laboratory

DDS:

data distribution service

DLR:

German Aerospace Center

DOF:

degree of freedom

ESL:

execution support language

FSA:

finite-state acceptor

GAPP:

goal as parallel programs

GenoM:

generator of modules

GRACE:

graduate robot attending conference

HTN:

hierarchical task network

ICE:

internet communications engine

IC:

integrated chip

IDL:

interface definition language

IPC:

interprocess communication

IxTeT:

indexed time table

JAUS:

joint architecture for unmanned systems

LCD:

liquid-crystal display

MIR:

mode identification and recovery

MIT:

Massachusetts Institute of Technology

NASA:

National Aeronautics and Space Agency

NASREM:

NASA/NBS standard reference model

NBS:

National Bureau of Standards

NDDS:

network data distribution service

OASIS:

onboard autonomous science investigation system

OCU:

operator control unit

ORCCAD:

open robot controller computer aided design

OROCOS:

open robot control software

PID:

proportional–integral–derivative

PLEXIL:

plan execution interchange language

PNT:

Petri net transducer

PRS:

procedural reasoning system

PTU:

pan–tilt unit

QOS:

quality of service

RAP:

reactive action package

RCS:

real-time control system

ROS:

robot operating system

RPC:

remote procedure call

RTI:

real-time innovation

RTS:

real-time system

RTT:

real-time toolkit

RWI:

real-world interface

SLICE:

specification language for ICE

SPA:

sense-plan-act

TAP:

test action pair

TCP:

transfer control protocol

TC:

technical committee

TDL:

task description language

UDP:

user datagram protocol

UML:

unified modeling language

VME:

Versa Module Europa

XML:

extensible markup language

YARP:

yet another robot platform

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Authors and Affiliations

  1. TRACLabs Inc, 1012 Hercules Drive, TX 77058, Houston, USA

    David Kortenkamp

  2. The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, PA 15213, Pittsburgh, USA

    Reid Simmons

  3. Department of Computer Science and Mathematics, University of Bergamo, Viale Marconi 5, 24044, Dalmine, Italy

    Davide Brugali

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  1. David Kortenkamp
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Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

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Kortenkamp, D., Simmons, R., Brugali, D. (2016). Robotic Systems Architectures and Programming. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_12

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