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On Structure and Distribution of Software for Mobile Manipulators

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Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 383))

Abstract

Complex robot applications or the cooperation of multiple mobile robots are use cases of increasing popularity where software distribution becomes important. When developing mobile robot systems and applications, software structure and distribution has to be considered on various levels, with effects on the organization and exchange of data. With respect to structure and distribution, this work proposes to distinguish between real-time level, system level and application level. Ways of structuring the software, as well as advantages and disadvantages of distribution on each level are analyzed. Moreover, examples are given how this structure and distribution can be realized in the robotics frameworks OROCOS, ROS and the Robotics API. The results are demonstrated using a case study of two cooperating KUKA youBots handing over a work-piece while in motion, which is shown both in simulation and in a real world setup.

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Notes

  1. 1.

    http://design.ros2.org/articles/why_ros2.html.

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Authors and Affiliations

  1. Institute for Software and Systems Engineering, University of Augsburg, Augsburg, Germany

    Andreas Schierl, Andreas Angerer, Alwin Hoffmann, Michael Vistein & Wolfgang Reif

Authors
  1. Andreas Schierl
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  2. Andreas Angerer
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  3. Alwin Hoffmann
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  4. Michael Vistein
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  5. Wolfgang Reif
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Corresponding author

Correspondence to Andreas Schierl .

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Editors and Affiliations

  1. Polytechnic Institute of Setúbal, Setubal, Portugal

    Joaquim Filipe

  2. Vitry sur Seine, France

    Kurosh Madani

  3. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  4. Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada

    Jurek Sasiadek

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Schierl, A., Angerer, A., Hoffmann, A., Vistein, M., Reif, W. (2016). On Structure and Distribution of Software for Mobile Manipulators. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_12

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  • DOI: https://doi.org/10.1007/978-3-319-31898-1_12

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