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In order to promote reuse of software in robotics, standardization, benchmarking, and formalization activities in robotics are being undertaken by many technical working groups and independent agencies. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. In this paper, we provide a detailed discussion...
A typical feature of robotic architectures are its reactivity and self-adaptivity. In practice, this is achieved by context-dependent dynamic invocation of software components in robotic architectures. In this paper, we specifically address how this self-adaptation capability can be formally defined and modeled in an architecture-independent way. We propose a probabilistic approach that facilitates...
In recent times, researchers in robotics have arrived at a consensus that there is no single efficient architecture or framework that satisfies all aspects of robotic system design. A majority of robotic architectures currently in use are developed in-house to meet the specific objectives of the research group. However, these frameworks have been designed in an ad-hoc manner and thus restricts reusability...
A robotic system is a software intensive system that is composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no systematic software development process is followed in robotics research. In this paper, we present the core concepts that drive our framework ‘Self Adaptive Framework for Robotic Systems (SafeRobots)’ for developing...
In this paper, a model-based framework called ‘Self Adaptive Framework for Robotic Systems (SafeRobots)’ for designing robotic software architectures is proposed. With the help of an example of designing an architecture for mobile robot mapping system, it will be shown how formal domain knowledge can be used at multiple abstraction levels in a model-driven engineering approach. The solution pool for...
A robotic system is an integration of various systems such as perception, navigation, planner, controller, etc. The adaptation of the robotic system to the dynamic environments is embedded in the functionality of the constituent systems. This severely limits the configuration space of such systems. The modeling of the variability in the solution space can expand this design space, help finding the...
Several decision making algorithms that are developed in robotics domain are found to be useful in automotive industrial applications. In order to use these algorithms in safety critical embedded systems one has to ensure a minimum confidence level, quality assurance, and reliability. In addition, decision algorithms are designed and developed by domain experts and system integrators do not have control...
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