Till sidans topp

Sidansvarig: Webbredaktion
Sidan uppdaterades: 2012-09-11 15:12

Tipsa en vän
Utskriftsversion

An Architecture for Decen… - Göteborgs universitet Till startsida
Webbkarta
Till innehåll Läs mer om hur kakor används på gu.se

An Architecture for Decentralized, Collaborative, and Autonomous Robots

Paper i proceeding
Författare Sergio Garcia
Claudio Menghi
Patrizio Pelliccione
Thorsten Berger
Rebekka Wohlrab
Publicerad i Proceedings - 2018 IEEE 15th International Conference on Software Architecture, ICSA 2018
Publiceringsår 2018
Publicerad vid Institutionen för data- och informationsteknik (GU)
Institutionen för data- och informationsteknik, Software Engineering (GU)
Språk en
Ämnesord Decentralized systems, Human robot collaboration, Robotics, Self-adaptive systems, Software architecture
Ämneskategorier Data- och systemvetenskap, Systemvetenskap, informationssystem och informatik

Sammanfattning

© 2018 IEEE. Robotic applications are typically realized using ad hoc and domain-specific solutions, which challenges the engineering and cross-project reuse of such applications. Especially in complex scenarios, where self-adaptive robots collaborate among themselves or with humans, the effective and systematic engineering of such applications is becoming increasingly important. Such scenarios require decentralized software architectures that foster fault-tolerant ways of managing large teams of (possibly) heterogeneous robots. To the best of our knowledge, no existing architecture for robot applications supports decentralized and self-adaptive collaboration. To address this gap, we conducted a design science study with 21 practitioners and experts in the field of robotics to develop an architecture fulfilling these requirements through several iterations. We present SERA, an architecture for robot applications that supports human-robot collaboration, as well as adaptation and coordination of single- and multi-robot systems in a decentralized fashion. SERA is based on layers that contain components that manage the adaptation at different levels of abstraction and communicate through well-defined interfaces. We successfully validated SERA by considering a set of real scenarios, by both using simulators and real robots, by involving robotic experts, and by benchmarking it with state-of-the-art solutions.

Sidansvarig: Webbredaktion|Sidan uppdaterades: 2012-09-11
Dela:

På Göteborgs universitet använder vi kakor (cookies) för att webbplatsen ska fungera på ett bra sätt för dig. Genom att surfa vidare godkänner du att vi använder kakor.  Vad är kakor?