Distributed Applications for Robotic Systems using Roblet®-Technology

Author(s): D.Westhoff, H.Stanek and J. Zhang

in: ISR/Robotik 2006, VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik, Mai 2006

Abstract

In this paper we present the application of a technology that establishes a framework for task-oriented programming of distributed robotic systems. The framework allows writing distributed control or monitoring programs and enables the programmer to send programs referred to as Roblets® to Roblet®-servers running on different computers within a local area network. At the University of Hamburg the framework is used to create a distributed system to control a service robot which can accomplish several tasks in an office environment. For this purpose, the system combines the control of the service robot, sensor information of the robot's sensors and stationary sensors in the environment as well as the results of tracking algorithms, path planning algorithms and other algorithms. Several examples are given to illustrate the usability of the framework. They result is a complex distributed system which is kept maintainable by consistent application of the Roblet®-Technology.

BibTeX


@INPROCEEDINGS{Westhoff2006a,
  author = {Daniel Westhoff AND Hagen Stanek AND Jianwei Zhang},
  title = {Distributed Applications for Robotic Systems using Roblet-Technology},
  booktitle = {Proceedings of the 37th International Symposium on Robotics and Deutsche Fachtagung Robotik 2006},
  year = {2006},
  address = {Munich, Germany},
  month = {Mai},
  organization = {VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik},
  url = {http://tams-www.informatik.uni-hamburg.de/people/westhoff/publications/index.php?content=robotik06a}
}