Gianluca Bardaro
ABSTRACT
Designing a robotic application is a challenging task. It requires a vertical expertise spanning various fields, starting from hardware and low-level communication to high-level architectural solution for distributed applications. Today a single expert cannot undertake the entire effort of creating a robust and reliable robotic application. The current landscape of robotics middlewares, ROS in primis, does not offer a solution for this problem yet; developers are expected to be both architectural designers and domain experts. In our previous works we used the Architecture Analysis and Description Language to define a model-based approach for robot development, in an effort to separate the competences of software engineers and robotics experts, and to simplify the merge of software artifacts created by the two categories of developers. In this work we present a practical use-case, i.e., an autonomous wheelchair, and how we used a combination of model-based developed and automatic code generation to completely re-design and re-implement an existing architecture originally written by hand.
- Kai Adam, Katrin Hölldobler, Bernhard Rumpe, and Andreas Wortmann. 2017. Engineering Robotics Software Architectures with Exchangeable Model Transformations. In Robotic Computing (IRC), IEEE International Conference on. IEEE, 172--179.Google Scholar
- Gianluca Bardaro, Andrea Semprebon, and Matteo Matteucci. 2017. AADL for robotics: a general approach for system architecture modeling and code generation. IRC 2017- IEEE International Conference on Robotic Computing (2017).Google Scholar
- Geoffrey Biggs, Kiyoshi Fujiwara, and Keiju Anada. 2014. Modelling and analysis of a redundant mobile robot architecture using aadl. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots. Springer, 146--157. Google ScholarDigital Library
- Davide Brugali and Patrizia Scandurra. 2009. Component-based robotic engineering (part i){tutorial}. IEEE Robotics & Automation Magazine 16, 4 (2009), 84--96.Google ScholarCross Ref
- Herman Bruyninckx. 2001. Open robot control software: the OROCOS project. In Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, Vol. 3. IEEE, 2523--2528.Google ScholarCross Ref
- Herman Bruyninckx, Markus Klotzbücher, Nico Hochgeschwender, Gerhard Kraetzschmar, Luca Gherardi, and Davide Brugali. 2013. The BRICS component model: a model-based development paradigm for complex robotics software systems. In Proceedings of the 28th Annual ACM Symposium on Applied Computing. ACM, 1758--1764. Google ScholarDigital Library
- Alexander Bubeck, Florian Weisshardt, and Alexander Verl. 2014. BRIDE-A toolchain for framework-independent development of industrial service robot applications. In ISR/Robotik 2014; 41st International Symposium on Robotics; Proceedings of. VDE, 1--6.Google Scholar
- Maurice Dawson, Darrell Norman Burrell, Emad Rahim, and Stephen Brewster. 2010. Integrating software assurance into the software development life cycle (SDLC). Journal of Information Systems Technology and Planning 3, 6 (2010), 49--53.Google Scholar
- Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, and Mikal Ziane. 2012. Robotml, a domain-specific language to design, simulate and deploy robotic applications. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots. Springer, 149--160. Google ScholarDigital Library
- Peter H Feiler, David P Gluch, and John J Hudak. 2006. The architecture analysis & design language (AADL): An introduction. Technical Report. DTTC Document.Google Scholar
- Jerome Hugues, Bechir Zalila, Laurent Pautet, and Fabrice Kordon. 2008. From the prototype to the final embedded system using the Ocarina AADL tool suite. ACM Transactions on Embedded Computing Systems (TECS) 7, 4 (2008), 42. Google ScholarDigital Library
- Sylvain Joyeux. {n. d.}. Rock: the robot construction kit. ({n. d.}).Google Scholar
- Gergely Magyar, Peter Sinçák, and Zoltán Krizsán. 2015. Comparison study of robotic middleware for robotic applications. In Emergent Trends in Robotics and Intelligent Systems. Springer, 121--128.Google Scholar
- Francisco J Ortiz, Diego Alonso, Francisca Rosique, Francisco Sánchez-Ledesma, and Juan A Pastor. 2014. A component-based meta-model and framework in the model driven toolchain C-Forge. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots. Springer, 340--351. Google ScholarDigital Library
- Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, and Andrew Y Ng. 2009. ROS: an open-source Robot Operating System. In ICRA workshop on open source software, Vol. 3. Kobe, Japan, 5.Google Scholar
- Christian Schlegel, Andreas Steck, and Alex Lotz. 2011. Model-driven software development in robotics: Communication patterns as key for a robotics component model. Introduction to Modern Robotics (2011), 119--150.Google Scholar
Recommendations
ROS-Based SLAM for a Gazebo-Simulated Mobile Robot in Image-Based 3D Model of Indoor Environment
ACIVS 2015: Proceedings of the 16th International Conference on Advanced Concepts for Intelligent Vision Systems - Volume 9386Nowadays robot simulators have robust physics engines, high-quality graphics, and convenient interfaces, affording researchers to substitute physical systems with their simulation models in order to pre-estimate the performance of theoretical findings ...
Teaching Robotics Using ROS (Abstract Only)
SIGCSE '16: Proceedings of the 47th ACM Technical Symposium on Computing Science EducationThe deployment of autonomous and semi-autonomous robots is likely to increase dramatically over the next decade. Recent autonomous vehicle prototypes illustrate both the rapid progress of the underlying technology and the commercial possibilities of ...
Bimanual Haptics for Humanoid Robot Teleoperation Using ROS and V-REP
ICARSC '15: Proceedings of the 2015 IEEE International Conference on Autonomous Robot Systems and CompetitionsThe high degree of complexity associated with humanoid robotic platforms significantly hinders the definition of accurate models. Robot learning based on human teleoperation provides suitable ways and means of meeting this challenge. Teleoperating the ...
Comments