A framework for building mobile single and multi-robot applications
A framework for building mobile single and multi-robot applications
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用于构建移动单机器人和多机器人应用程序的框架
DOI：
10.1016/j.robot.2011.01.004
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
E. Casanova
中科院分区：
文献类型：
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作者：
Joaquín López;D. P. Losada;E. Casanova
机器人软件系统的复杂性要求使用一个构思良好的体系结构以及编程工具来支持它。机器人体系结构的一个共同特征是将系统模块化分解为更简单且基本独立的组件。这些组件实现基本操作并报告有关其状态的事件。这里提出的机器人编程框架包括一个工具（RoboGraph）来编程和协调这些中间件模块的活动（任务）。项目开发人员在两个不同的级别上使用相同的任务编程IDE（RoboGraph）。第一种是编程必须由一个机器人自主执行的任务，第二种是编程可以包括多个机器人和建筑元素的任务。任务使用信号解释Petri网（SIPN）编辑器进行描述，并存储在XML文件中。调度程序加载这些文件并根据需要执行不同的Petri网。显示所有运行网络状态的监视器对于调试和跟踪目的非常有用。整个系统已被用于几个应用：导游机器人（GuideBot），多机器人监控项目（WatchBot）和医院的食品和洗衣运输系统的基础上移动的机器人。
The complexity of robot software systems calls for the use of a well-conceived architecture together with programming tools to support it. One common feature of robot architectures is the modular decomposition of systems into simpler and largely independent components. These components implement primitive actions and report events about their state. The robot programming framework proposed here includes a tool (RoboGraph) to program and coordinate the activity (tasks) of these middleware modules. Project developers use the same task programming IDE (RoboGraph) on two different levels. The first is to program tasks that must be executed autonomously by one robot and the second is to program tasks that can include several robots and building elements. Tasks are described using a Signal Interpreted Petri Net (SIPN) editor and stored in an xml file. A dispatcher loads these files and executes the different Petri nets as needed. A monitor that shows the state of all the running nets is very useful for debugging and tracing purposes. The whole system has been used in several applications: A tour-guide robot (GuideBot), a multi-robot surveillance project (WatchBot) and a hospital food and laundry transportation system based on mobile robots.