CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination
CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination
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DOI：
10.1109/icra40945.2020.9196513
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发表时间：
2019-10
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通讯作者：
Ritwika Ghosh;J. P. Jansch-Porto;Chiao Hsieh;Amelia Gosse;Minghao Jiang;Hebron Taylor;Peter Du;S. Mitra;G. Dullerud
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文献类型：
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作者：
Ritwika Ghosh;J. P. Jansch-Porto;Chiao Hsieh;Amelia Gosse;Minghao Jiang;Hebron Taylor;Peter Du;S. Mitra;G. Dullerud
编程语言、库和开发工具改变了移动计算和机器学习的应用程序开发流程。本文介绍了CyPhyHouse-一个工具链，旨在为分布式移动机器人应用程序提供类似的编程、调试和部署优势。用户可以使用高级、事件驱动的Koord编程语言开发与硬件无关的分布式应用程序，而不需要控制器设计或分布式网络协议方面的专业知识。CyPhyHouse的模块化、平台无关的中间件使用路径规划(RRT)、控制(MPC)、互斥等标准算法来实现这些功能。开发了一个高保真、可扩展的多线程Koord应用模拟器，以模拟数十个异类代理的相同应用代码。相同的编译代码也可以部署在不同的移动平台上。通过在室内地面和空中飞行器上开发、仿真和部署分布式任务分配应用程序，在机器人试验台上清楚地展示了CyPhyHouse在改进设计周期方面的有效性。
Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces CyPhyHouse—a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-level, event driven Koord programming language, without requiring expertise in controller design or distributed network protocols. The modular, platform-independent middleware of CyPhyHouse implements these functionalities using standard algorithms for path planning (RRT), control (MPC), mutual exclusion, etc. A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents. The same compiled code can also be deployed on heterogeneous mobile platforms. The effectiveness of CyPhyHouse in improving the design cycles is explicitly illustrated in a robotic testbed through development, simulation, and deployment of a distributed task allocation application on in-house ground and aerial vehicles.