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From a CORBA-Based Software Framework to a Component-Based System Architecture for Controlling a Mobile Robot

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Computer Vision Systems (ICVS 2003)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2626))

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Abstract

We present the general purpose system architecture OSCAR (Operating System for the Control of Autonomous Robots) for mobile robots that completely relies on a software framework embedding several component types and the related “glue code”. The underlying framework defines the necessary infrastructure in several ways: interfaces and data flow are standardized as well as configuration, booting, shutdown and several development constraints and facilities. All communication issues are covered by employing the CORBAmiddle-w are standard. The architecture itself defines a behavior-based control system that easily can be adapted to different tasks of a mobile robot if the related components are available. Anet work established between several laboratories will support the exchange of components for rapid software development for robotic systems.

The work presented in this paper was supported by the Deutsche Forschungsgemeinschaft as part of the project Exploration von Innenräumen mit optischen Sensoren auf mehreren, aufgabengerechten Abstraktionsebenen(Fa109/14).

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Author information

Authors and Affiliations

  1. Institute for Real-Time Computer Systems, Technische Universität Munchen, Germany

    Stefan A. Blum

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  1. Stefan A. Blum
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Editor information

Editors and Affiliations

  1. INRIA Rhône-Alpes, 655 Ave de l’Europe, 38330, Montbonnot, France

    James L. Crowley

  2. Montefiore Institute, University of Liège, 4000, Liège Sart-Tilman, Belgium

    Justus H. Piater

  3. Automation and Control Institute, Vienna University of Technology, Gusshausstraße 27/376, 1040, Vienna, Austria

    Markus Vincze

  4. Institute of Digital Image Processing, Joanneum Research, Wastiangasse 6, 8010, Graz, Austria

    Lucas Paletta

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© 2003 Springer-Verlag Berlin Heidelberg

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Blum, S.A. (2003). From a CORBA-Based Software Framework to a Component-Based System Architecture for Controlling a Mobile Robot. In: Crowley, J.L., Piater, J.H., Vincze, M., Paletta, L. (eds) Computer Vision Systems. ICVS 2003. Lecture Notes in Computer Science, vol 2626. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36592-3_32

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  • DOI: https://doi.org/10.1007/3-540-36592-3_32

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00921-4

  • Online ISBN: 978-3-540-36592-1

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