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High Performance Relaying of C++11 Objects across Processes and Logic-Labeled Finite-State Machines

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Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8810))

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Abstract

We present gusimplewhiteboard, a software architecture analogous to ROS:services and ROS: messages, that enables the construction and extremely efficient inter-process relaying of message-types as C++11 objects, All gusimplewhiteboard objects reside in shared memory. Moreover, our principle is to use idempotent message communication, in direct contrast to previously released platforms for robotic-module communication, that are based on an event-driven subscriber model that queues and multi-threads. We combine this with compiled, time-triggered, logic-labeled finite state machines (llfsms) the are executed concurrently, but scheduled sequentially, in an extremely efficient manner, removing all race conditions and requirements for explicit synchronisation. Together, these tools enable effective robotic behaviour design, where arrangements of llfsms can be organised as hierarchies of machines and submachines, enabling composition of very complex systems. They have proven to be very powerful for Model-Driven Development, capable of simulation, validation, and formal verification.

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Author information

Authors and Affiliations

  1. Machine Intelligence and Pattern Analysis Laboratory (MiPal), Griffith University, Nathan, QLD, 4111, Australia

    Vlad Estivill-Castro, René Hexel & Carl Lusty

Authors
  1. Vlad Estivill-Castro
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  2. René Hexel
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  3. Carl Lusty
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Editor information

Editors and Affiliations

  1. Department of Engineering, Università degli Studi di Bergamo, Viale Marconi 5, 24044, Dalmine, Italy

    Davide Brugali

  2. Faculty EE-Math-CS, CTIT Institute, Robotics and Mechatronics Group, University of Twente, Room Carre 3437, P.O. Box 217, 7500 AE, Enschede, The Netherlands

    Jan F. Broenink

  3. Artificial Intelligence Laboratory, Stanford University, 94305-9010, Stanford, CA, USA

    Torsten Kroeger

  4. Faculty of Engineering, Electrical and Computer Engineering, Science Centre - Mathphysic, Level 2, University of Auckland, Room 303-249, 38 Princess Street, 1010, Auckland, New Zealand

    Bruce A. MacDonald

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Estivill-Castro, V., Hexel, R., Lusty, C. (2014). High Performance Relaying of C++11 Objects across Processes and Logic-Labeled Finite-State Machines. In: Brugali, D., Broenink, J.F., Kroeger, T., MacDonald, B.A. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2014. Lecture Notes in Computer Science(), vol 8810. Springer, Cham. https://doi.org/10.1007/978-3-319-11900-7_16

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  • DOI: https://doi.org/10.1007/978-3-319-11900-7_16

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11899-4

  • Online ISBN: 978-3-319-11900-7

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