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Modern robotic systems are a combination of sophisticated software and hardware components and they offer complex functionalities. While popular middlewares that promote component-level reusability and assist development already exist, there are no established techniques or procedures that use a formal approach to robot system and architecture design yet. This work aims at the long term goal of model-based...
This paper presents a simulation environment for testing and validation of a Mission Control System (MCS) of autonomous underwater vehicles (AUV) operating in environments with characteristics found in lakes of hydroelectric dams. The Supervisory Control Theory (SCT) is used as formalism for the analysis and modelling of the event-driven dynamics of the AUV, but also as the basis for the development...
The Open Platform for Robotic Services (OPRoS) supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes a heterogeneous coupling scheme of OPRoS framework with ROS of which the communication infrastructure is...
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