Programming Language for Robot System Integration based on RT-middleware Technology

该研究项目调查了并发Erlang编程语言和类似Erlang的技术在机器人系统开发中的使用，其具体目标是提供支持RT中间件项目的工具。项目的成果可以分为两类：工具和知识。在工具类别中，我们开发了三种工具来协助机器人系统的开发：用于创建协调器的框架，使用Erlang提供鲁棒性和分布式系统支持；使用Erlang作为底层技术的RT中间件实现；以及一个基于Erlang开发的技术的组件管理器，用于在面对系统故障时提供软件资源的容错管理。最后一个工具导致了所涉及的技术，称为监督树，成为对象管理组正在开发的标准的核心部分。

This research project investigated the use of the concurrent Erlang programming language and Erlang-like techniques in the development of robotic systems, with a specific goal of providing tools to support the RT Middleware project. The project's outcomes can be divided into two categories : tools and knowledge. In the tools category, we have developed three tools for assisting in the development of robotic systems: a framework for creating coordinators, using Erlang to provide robustness and distributed system support ; an implementation of RT Middleware using Erlang as the underlying technology ; and a component manager based on techniques developed by Erlang for providing fault-tolerant management of software resources in the face of system failures. This last tool has led to the technique involved, known as Supervision Trees, becoming a core part of a standard under development at the Object Management Group.