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See detailRPSL meets lightning: A model-based approach to design space exploration of robot perception systems
Gammaitoni, Loïc UL; Hochgeschwender, Nico UL

in RPSL meets lightning: A model-based approach to design space exploration of robot perception systems (2016)

The design space of a robotic application defines at a meta level what are all of its possible implementations. Those possibilities are called design alternatives and differ on many different aspects, one ... [more ▼]

The design space of a robotic application defines at a meta level what are all of its possible implementations. Those possibilities are called design alternatives and differ on many different aspects, one being preferred to the other depending on how, where, when or what the application should do. Design Space Exploration (DSE) is the process of reviewing those design alternatives, prior to their implementation, with intention to verify that the set of all design alternatives to be implemented covers all the possible scenarios in which the application is to be executed. In this paper we address two challenges related to DSE, namely, (1) the formal definitions of design spaces, a non-trivial task due to the many dimensions to be taken into consideration, and (2) the automatisation of DSE, that is, enabling a domain expert to review design alternatives corresponding to a given design space effortlessly. In this paper, we address those challenges in the context of robot perception software systems by combining two already existing technologies, namely RPSL for the specification of robot perception system's design spaces and Lightning, a language workbench that we use to formalise RPSL and obtain, from RPSL specifications, corresponding design alternatives. [less ▲]

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See detailContext-based Selection and Execution of Robot Perception Graphs
Hochgeschwender, Nico UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL et al

in 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'15) (2015, September)

To perform a wide range of tasks service robots need to robustly extract knowledge about the world from the data perceived through the robot’s sensors even in the presence of varying context-conditions ... [more ▼]

To perform a wide range of tasks service robots need to robustly extract knowledge about the world from the data perceived through the robot’s sensors even in the presence of varying context-conditions. This makes the design and devel- opment of robot perception architectures a challenging exercise. In this paper we propose a robot perception architecture which enables to select and execute at runtime different perception graphs based on monitored context changes. To achieve this the architecture is structured as a feedback loop and contains a repository of different perception graph configurations suitable for various context conditions. [less ▲]

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