Building a software architecture for a human-robot team using the Orca framework

Kaupp, Tobias, Brooks, Alex, Upcroft, Ben and Makarenko, Alexei (2007). Building a software architecture for a human-robot team using the Orca framework. In: PROCEEDINGS OF THE 2007 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation, Rome, Italy, (3736-3741). 10-14 Apr 2007. doi:10.1109/ROBOT.2007.364051


Author Kaupp, Tobias
Brooks, Alex
Upcroft, Ben
Makarenko, Alexei
Title of paper Building a software architecture for a human-robot team using the Orca framework
Conference name IEEE International Conference on Robotics and Automation
Conference location Rome, Italy
Conference dates 10-14 Apr 2007
Proceedings title PROCEEDINGS OF THE 2007 IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Journal name Proceedings of the 2007 Ieee International Conference On Robotics and Automation, Vols 1-10   Check publisher's open access policy
Place of Publication New York, USA
Publisher IEEE
Publication Year 2007
Sub-type Fully published paper
DOI 10.1109/ROBOT.2007.364051
ISBN 1-4244-0601-3
ISSN 1050-4729
Volume 1-10
Start page 3736
End page 3741
Total pages 6
Language eng
Abstract/Summary This paper considers the problem of building a software architecture for a human-robot team. The objective of the team is to build a multi-attribute map of the world by performing information fusion. A decentralized approach to information fusion is adopted to achieve the system properties of scalability and survivability. Decentralization imposes constraints on the design of the architecture and its implementation. We show how a component-based software engineering approach can address these constraints. The architecture is implemented using Orca - a component-based software framework for robotic systems. Experimental results from a deployed system comprised of an unmanned air vehicle, a ground vehicle, and two human operators are presented. A section on the lessons learned is included which may be applicable to other distributed systems with complex algorithms. We also compare Orca to the player software framework in the context of distributed systems.
Subjects 091405 Mining Engineering
0913 Mechanical Engineering
Keyword distributed object management
man-machine systems
object-oriented programming
robot programming
sensor fusion
software architecture
Q-Index Code E1

 
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Created: Wed, 13 Jan 2010, 09:30:54 EST by Thelma Whitbourne on behalf of Faculty Of Engineering, Architecture & Info Tech