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Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments

  • Conference paper
Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5325))

Abstract

This paper presents the software being developed at IRI (Institut de Robòtica i Informàtica Industrial) for mobile robot autonomous navigation in the context of the european project URUS (Ubiquitous Robots in Urban Settings). In order that a deployed sensor network and robots operating in the environment cooperate in terms of information sharing, main requirements are real-time performance and the integration of information coming from remote machines not onboard the robot. Moreover, the project involves a group of eleven industrial and academic partners, therefore software integration issues are critical. The proposed software framework is based on the YARP middleware and has been tested in real and simulated experiments.

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References

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Author information

Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial, IRI (UPC-CSIC). C/Llorens i Artigas, 4-6, 2nd floor, Barcelona, Spain

    Andreu Corominas Murtra, Josep M. Mirats Tur, Oscar Sandoval & Alberto Sanfeliu

  2. Universitat Politècnica de Catalunya, UPC., Barcelona, Spain

    Alberto Sanfeliu

Authors
  1. Andreu Corominas Murtra
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  2. Josep M. Mirats Tur
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  3. Oscar Sandoval
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  4. Alberto Sanfeliu
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Editor information

Editors and Affiliations

  1. School of Engineering, University of California, Merced,, 5200 North Lake Rd, CA 95343, Merced, USA

    Stefano Carpin

  2. Information Technology Research Institute National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki, Japan

    Itsuki Noda

  3. Department of Information Engineering (DEI), University of Padua, Via G. Gradenigo, 6/a, 35131, Padova, Italy

    Enrico Pagello

  4. Department of Management and Engineering (DTG), University of Padua Stradella San Nicola, 3 I-36100, Vicenza, Italy

    Monica Reggiani

  5. Simulation, Systems Optimization and Robotics Group, Technische Universität Darmstadt, Hochschulstraße 10, 64289, Darmstadt, Germany

    Oskar von Stryk

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© 2008 Springer-Verlag Berlin Heidelberg

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Corominas Murtra, A., Mirats Tur, J.M., Sandoval, O., Sanfeliu, A. (2008). Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science(), vol 5325. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89076-8_16

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  • DOI: https://doi.org/10.1007/978-3-540-89076-8_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89075-1

  • Online ISBN: 978-3-540-89076-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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