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Separation of Concerns Within Robotic Systems Through Proactive Computing
Frantz, Alexandre; Zampunieris, Denis
2020In Proceeding of the 4th IEEE International Conference on Robotic Computing
Peer reviewed
 

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Keywords :
Robotic Systems; Robot Simulation; Proactive Computing
Abstract :
[en] In this short paper, we first introduce a possible new model for designing and implementing software in robotic systems. This model is based on proactive scenarios, coded through dynamic sets of condition-action rules. Each scenario embeds the required rules and can be assembled dynamically with others, allowing the proactive system to achieve a unique objective or behavior and instruct the robot accordingly. Furthermore, a scenario is not aware of the existence of the other scenarios. In fact, it only contains information about a predefined central scenario, which oversees global decision making. In addition, each scenario knows where to enter its suggestions, thus allowing for a high degree in terms of separating concerns and modularity of code. Consequently, allowing easier development, testing and optimization of each scenario independently, possible reuse in different robots, and finally, a faster achievement of robust and scalable robotics software. We then show how to apply this programming model and its functionalities during runtime, by a proof of concept consisting of a virtual robot deployed in the Webots™ simulator. This simulator is controlled with four proactive scenarios (plus the central one), in charge of three different objectives.
Disciplines :
Computer science
Author, co-author :
Frantz, Alexandre
Zampunieris, Denis ;  University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS)
External co-authors :
no
Language :
English
Title :
Separation of Concerns Within Robotic Systems Through Proactive Computing
Publication date :
November 2020
Event name :
4th IEEE International Conference on Robotic Computing (IRC 2020)
Event organizer :
IEEE
Event date :
9 - 11 November, 2020
Audience :
International
Main work title :
Proceeding of the 4th IEEE International Conference on Robotic Computing
Publisher :
IEEE
ISBN/EAN :
978-1-7281-5237-0
Pages :
197-201
Peer reviewed :
Peer reviewed
Focus Area :
Computational Sciences
Available on ORBilu :
since 22 November 2020

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