We present a novel robotic software development framework for rapid simulation and programming of mobile robot teams. The framework uses a specification- centred generative approach. A robot control program is specified in an intuitive graphical representation of a hyper-graph of typed data processing elements. This specification is automatically refined to all design artifacts required in a robotic software development environment: simulation models, robot control programs, team communication infrastructure, documentation, and real-time monitoring. Although our framework was originally intended to design behavior-based robot control programs using the Dual Dynamics architecture, we demonstrate the flexibility of the environment by an example which integrates a "classical" control schema into a Dual Dynamics behavior system. Experimental validation was done on GMD-Robots, our team of mid-size league RoboCup robots.

Robot Behavior Engineering using DD-Designer

INDIVERI, GIOVANNI
2001-01-01

Abstract

We present a novel robotic software development framework for rapid simulation and programming of mobile robot teams. The framework uses a specification- centred generative approach. A robot control program is specified in an intuitive graphical representation of a hyper-graph of typed data processing elements. This specification is automatically refined to all design artifacts required in a robotic software development environment: simulation models, robot control programs, team communication infrastructure, documentation, and real-time monitoring. Although our framework was originally intended to design behavior-based robot control programs using the Dual Dynamics architecture, we demonstrate the flexibility of the environment by an example which integrates a "classical" control schema into a Dual Dynamics behavior system. Experimental validation was done on GMD-Robots, our team of mid-size league RoboCup robots.
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11587/120217
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 17
  • ???jsp.display-item.citation.isi??? 5
social impact