software design; separation of concerns; proactive computing; robot navigation
Abstract :
[en] In this paper, we are going to consider a current challenge in a robotic software system. We consider a problem, which is the lack of separation of concerns in robotic systems, and propose a software model to address the problem and resolve the current challenges. The core purpose of this paper is to demonstrate the advantages of using separation of concerns principles to create a well-ordered model of independent components that address separated concerns individually. Considering the problem, we developed a software model with the help of a proactive engine to address the challenges. We use robotic operating systems to help us to implement the robot simulator.
Disciplines :
Computer science
Author, co-author :
Chaychi, Samira ; University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS)
Reis, Sandro ; University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS)
Zampunieris, Denis ; University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS)
External co-authors :
no
Language :
English
Title :
Software Model for Robot Programming and Example of Implementation for Navigation System
Publication date :
2023
Event name :
9th International Conference on Automation, Robotics and Applications (ICARA 2023)
Event organizer :
IEEE Robotics and Automation Society; Center for AI and Robotics (CAIR) at New York University Abu Dhabi
Event place :
Abu Dhabi, United Arab Emirates
Event date :
10-12 February 2023
Audience :
International
Main work title :
Proceedings of 9th International Conference on Automation, Robotics and Applications (ICARA 2023)
A. Frantz, D. Zampunieris, "Separation of Concerns Within Robotic Systems Through Proactive Computing," 2020 Fourth IEEE Interna-tional Conference on Robotic Computing (IRC), 2020, pp. 197-201, doi:10.1109/IRC.2020.00039
S. Macenski, F. Martn, R. White, J. Clavero. The Marathon 2: A Navigation System. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
D. Zampunieris, "Implementation of efficient proactive computing us-ing lazy evaluation in a learning management system (extended ver-sion),"IGI Publishing, vol. 3, no. ISBN 0863411711, pp. 103-109, 2008.
https://en.wikipedia.org/wiki/Separation of concerns
Stanford Artificial Intelligence Laboratory et al. (2018). Robotic Oper-ating System. Retrieved from https://www.ros.org
P. Laplante, "What every engineer should know about software engi-neering, "CRC Press, pp. ISBN 978-0 849 372 285, 2007.
D. Shirnin, S. Reis, D. Zampunieris, "Experimentation of proactive computing in context aware systems: Case study of humancomputer interactions in e-learning environment," 2013 IEEE Interna-tional Multi-Disciplinary Conference on Cognitive Methods in Situa-tion Awareness and Decision Support (CogSIMA), 2013, pp. 269-276, doi:10.1109/CogSIMA.2013.6523857
Moko, Anasuodei & Ojekudo, & Akpofure, Nathaniel. (2021). Software Reusability: Approaches and Challenges. International Jour-nal of Research and Innovation in Applied Science. 06. 142-146. 10.51584/IJRIAS.2021.6510.
M. Quigley et al., "ROS: An open-source Robot Operating System," in ICRA workshop on open source software, 2009, vol. 3, no. 3.2: Kobe, Japan.
Quang, Hiep Do et al. "Design a Nonlinear MPC Controller for Autonomous Mobile Robot Navigation System Based on ROS." Interna-tional Journal of Mechanical Engineering and Robotics Research (2022).
