Inter-module cooperation architecture for interactive robot
Inter-module cooperation architecture for interactive robot
复制标题
交互式机器人模块间协作架构
DOI：
10.1109/irds.2002.1041608
复制
发表时间：
2002
期刊：
影响因子：
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通讯作者：
Tetsunori Kobayashi
中科院分区：
文献类型：
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作者：
KyeongJu Kim;Y. Matsusaka;Tetsunori Kobayashi
我们设计了一个模块间协作架构，可以实现交互式机器人的协作开发。在类似集市的开发模式中，每个模块由单独的开发人员开发，整个系统由这些开发人员合作开发。为了实现这些开发人员在集市模式下的顺利协作，需要模块间协作架构，以避免模块冲突，并根据情况和任务选择合适的模块。为此，我们引入了基于优先级的模块合作机制。每个模块在各种情况下的优先级在定位优先级描述脚本（SPDS）中进行描述。通过根据不同情况和任务对SPDS进行修改，实现了灵活的模块选择。我们还通过开发多模态对话机器人来评估所提出架构的效率。
We designed an inter-module cooperation architecture that enables the collaborative development of interactive robots. In the bazaar-like development model, each module is developed by an individual developer and the total system is developed by the cooperation of these developers. To realize smooth collaboration of these developers under bazaar-like model, inter-module cooperation architecture is required to avoid the confliction of modules and select the appropriate modules according to the situations and the tasks. For this aim, we introduce a priority based cooperation mechanism for modules. The priority for each module under the various situations is, described in a situated-priority description script (SPDS). Flexible module selection is realized by the modification of the SPDS under the various situations and the tasks. We also evaluate the efficiency of proposed architecture through the development of the multi-modal conversation robot.