Domingo Diez Barrero
ABSTRACT
This research work is focused on how to design, implement, test and maintain a middleware for an Unmanned Aerial System (UAS), which is formed by several Unmanned Aerial Vehicles (UAVs).
The novelty of our approach is the integration as one only communication environment, of two complete different contexts: the intra-UAV and the inter-UAV; within a UAS. The challenge is how to address the design of a flexible middleware for both a real-time communication environment (the intra-UAV context), and a highly dynamic wireless environment (the inter-UAV context). Besides, it must be considered the limited computing power at our disposal. The particular characteristics of the problem make neither the current solutions for the Mobile wireless Ad-hoc Network (MANET), which would be eligible for the inter-UAV context, nor the common solutions for the real-time applications, that would fit the intra-UAV context, suitable.
- Ahn, S., Kim, J., Lim, K., Ko, H., Kwon, Y., and Kim, H. UPnP Approach for Robot Middleware. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005 (2005), pp. 1959--1963.Google Scholar
- Albus, J. Outline for a theory of intelligence. IEEE Transactions on Systems, Man, and Cybernetics 21, 3 (1991), 473--509.Google ScholarCross Ref
- Allen, J., and Walsh, B. Enhanced oil spill surveillance, detection and monitoring through the applied technology of Unmanned Air Systems. In 2008 INTERNATIONAL OIL SPILL CONFERENCE (2008), American Petroleum Institute, 1220 L Street, NW Washington DC 20005 USA.Google Scholar
- Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T., and Yoon, W. Rt-component object model in rt-middleware-distributed component middleware for rt (robot technology)-. In IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) (2005).Google ScholarCross Ref
- Blank, D., Meeden, L., and Kumar, D. Python robotics: An environment for exploring robotics beyond LEGOs. In Proceedings of the 34th SIGCSE technical symposium on Computer science education (2003), ACM, pp. 317--321. Google ScholarDigital Library
- Broten, G., Mackay, D., and Desgagnes, R. Middleware for robotics: Applications on real-time systems. In Proc. 3rd Int. Workshop Software Development and Integration in Robotics, IEEE Int. Conf. Robotics and Automation, D. Brugali, Ed (2008), p. 6.Google Scholar
- Collett, T., MacDonald, B., and Gerkey, B. Player 2.0: Toward a practical robot programming framework. In Proceedings of the Australasian Conference on Robotics and Automation (ACRA 2005) (2005), Citeseer.Google Scholar
- Conte, G., and Doherty, P. An integrated UAV navigation system based on aerial image matching. In Proceedings of the IEEE Aerospace Conference (2008), Citeseer, pp. 1--10.Google ScholarCross Ref
- Cote, C., Brosseau, Y., Letourneau, D., Ra "ievsky, C., and Michaud, F. Robotic software integration using MARIE. International Journal of Advanced Robotic Systems 3, 1 (2006), 55--60.Google ScholarCross Ref
- Enderle, S., Utz, H., Sablatng, S., Simon, S., Kraetzschmar, G., and Palm, G. Miro: Middleware for autonomous mobile robots. citeseer.ist.psu.edu/enderle01miro.html.Google Scholar
- Gaddah, A., and Kunz, T. A survey of middleware paradigms for mobile computing. Techical Report, July (2003).Google Scholar
- Gil, P., Maza, I., Ollero, A., and Marrón, P. Data centric middleware for the integration of wireless sensor networks and mobile robots.Google Scholar
- Hadim, S., Al-Jaroodi, J., and Mohamed, N. Trends in middleware for mobile ad hoc networks. The Journal of Communications 1, 4 (2006), 11--21.Google ScholarCross Ref
- Hellström, T., Johansson, T., and Ringdahl, O. A Java-based Middleware for Control and Sensing in Mobile Robotics. In International Conference on Intelligent Automation and Robotics (2008), Citeseer, pp. 649--654.Google Scholar
- Kapoor, C., and Tesar, D. A reusable operational software architecture for advanced robotics (OSCAR). The University of Texas at Austin, Report to US Dept. of Energy, Grant No. DE-FG01 94EW37966 and NASA Grant No. NAG (1998), 9--809.Google Scholar
- Kramer, J., and Scheutz, M. Development environments for autonomous mobile robots: A survey. Autonomous Robots 22, 2 (2007), 101--132. Google ScholarDigital Library
- Lima, P., and Custodio, L. Artificial intelligence and systems theory: applied to cooperative robots. http://citeseer.ist.psu.edu/578654.html Access Date: May (2007).Google Scholar
- López, J., Royo, P., Pastor, E., Barrado, C., and Santamaria, E. A middleware architecture for unmanned aircraft avionics. In Proceedings of the 2007 ACM/IFIP/USENIX international conference on Middleware companion (2007), ACM, p. 24. Google ScholarDigital Library
- Magnenat, S., Longchamp, V., and Mondada, F. ASEBA, an event-based middleware for distributed robot control. In Workshops DVD of International Conference on Intelligent Robots and Systems (IROS) (2007), Citeseer.Google Scholar
- Mahyuddin, M., and Arshad, M. Classes Of Control Architectures For AUV: A Brief Survey.Google Scholar
- Makarenko, A., Brooks, A., and Kaupp, T. Orca: Components for robotics. In International Conference on Intelligent Robots and Systems (IROS) (2006), pp. 163--168.Google Scholar
- Marti, S., and Krishnan, V. Carmen: A dynamic service discovery architecture. Mobile and Media Systems Laboratory HP Laboratories Palo Alto HPL-2002-257 September 16th, 2002.Google Scholar
- Mohamed, N., Al-Jaroodi, J., and Jawhar, I. Middleware for robotics: a survey. 736--742.Google Scholar
- Mohamed, N., Al-Jaroodi, J., and Jawhar, I. A Review of Middleware for Networked Robots. IJCSNS 9, 5 (2009), 139.Google Scholar
- Nesnas, I., Simmons, R., Gaines, D., Kunz, C., Diaz-Calderon, A., Estlin, T., Madison, R., Guineau, J., McHenry, M., Shu, I., et al. CLARAty: Challenges and steps toward reusable robotic software. International Journal of Advanced Robotic Systems 3, 1 (2006), 023--030.Google ScholarCross Ref
- (Norut), N. R. I. CryoWing Unmanned Aerial System. Payload possibilities. http://uas.norut.no/UAV_Remote_Sensing/Payload.html.Google Scholar
- (Norut), N. R. I. UAV remote sensing: CryoWing Unmanned Aerial System. http://uas.norut.no/UAV_Remote_Sensing/Welcome.html.Google Scholar
- Ollero, A., and Merino, L. Unmanned aerial vehicles as tools for forest-fire fighting. Forest Ecology and Management 234, 1 S 263 (2006), 15.Google Scholar
- Out, S. ORiN: open robot interface for the network-the standard and unified network interface for industrial robot applications. In Proceedings of the 41st SICE Annual Conference SICE 2002 (2002), pp. 925--928.Google Scholar
- Paroux, G., Demeure, I., and Baruch, D. A survey of middleware for mobile ad hoc networks. Rapport technique ENST 2007D004, janv (2007).Google Scholar
- Saffiotti, A., and Broxvall, M. PEIS ecologies: Ambient intelligence meets autonomous robotics. In Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies (2005), ACM, p. 281. Google ScholarDigital Library
- Schmidt, D., and Kuhns, F. An overview of the real-time CORBA specification. Computer 33, 6 (2000), 56--63. Google ScholarDigital Library
- Storvold, R., and Johansen, K. S. Risk Analysis for the CryoWing UAS. General overview of platform and operational safety hazards including methods of identification and mitigation. Risk Analysis Report v1.0, Norut, Nothern Research Institute, 2010.Google Scholar
- Xiong, N., He, J., Yang, Y., He, Y., Kim, T., and Lin, C. A Survey on Decentralized Flocking Schemes for a Set of Autonomous Mobile Robots (Invited Paper). Journal of Communications 5, 1 (2010), 31.Google ScholarCross Ref
- Yoo, J., Kim, S., and Hong, S. The Robot Software Communications Architecture (RSCA) QoS-Aware Middleware for Networked Service Robots. In proc. International Joint Conference SICE-ICASE, pp (2006), pp. 330--335.Google Scholar
- ZeroC.com. Ice on-line manual. http://www.zeroc.com/doc/Ice-3.4.1/manual/.Google Scholar
Index Terms
- A flexible and collaborative middleware for an unmanned aerial vehicle platform: when one-fit-all solution is required
Recommendations
A flexible and collaborative middleware for a unmanned aerial vehicle (UAV) platform: when one-fit-all solution is required
Middleware Posters '10: Middleware '10 Posters and Demos TrackThis research work is focused on how to design, implement, test and maintain a middleware for a Unmanned Aerial System (UAS). The current ongoing stages are the requirement elicitation and analysis, and the preliminary design.
The novelty of our ...
A Hardware-in-the-Loop Platform for Rotary-Wing Unmanned Aerial Vehicles
This work describes the development of a platform to deal with simulated and real autonomous flights with rotary-wing aircrafts. Such a platform, referred to as AuRoRA Platform --- Autonomous Robots for Research and Applications --- contemplates ...
Modular unmanned aerial vehicle platform design: Multi-objective evolutionary system method
AbstractFor the air quality data collection, a great potential is offered by unmanned aerial vehicles (UAV) with spatial and temporal resolutions. The fast scientific development has enabled the class production of UAVs cost effective in which ...
Comments