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Robust environment perception is essential for decision-making on robots operating in complex domains. Intelligent task execution requires principled treatment of uncertainty sources in a robot's observation model. This is important not only for low-level observations (e.g., accelerom-eter data), but also for high-level observations such as semantic object labels. This paper formalizes the concept...
Recently, the open-source robot operating system (ROS) has been growing rapidly in the robotics community. However, the ROS runs on Linux, which does not provide timing guarantees for robot motion. This paper present a hybrid real-time ROS architecture on multi-core processor “RGMP-ROS”, which consists of two parts including the non-real-time subsystem “GPOS (General Operating system)” and the real-time...
In this paper we present a new multi-OS architecture designed particularly for SMP platform that run RTOS and GPOS on different CPUs. No modification is needed on the GPOS side. With this architecture we can achieve high performance with little engineering cost. A prototype multi-OS called RGMP (RTOS and GPOS on Multi-Processor) has been implemented using Linux as GPOS and μC/OS-II as RTOS to verify...
Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. To reuse robot software component on different robot hardware, the logical abstraction and standardization of hardware is critical. In this paper, an IPv6 based robot structure is presented to reuse the robot hardware and software resources. Firstly the software architecture...
In the cooperative interaction between multiple complex robots, preemption capability in real-time communication is critical. However, the applications of universal approaches have the limitation in robot communications. In this paper, an improved approach is presented based on preemptive CSMA/CA (Carrier Sense Multiple Access/Collision Avoidance) method to boost the real-time capability in the priority-based...
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