Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Introduction Kapitel lesen Erstes Kapitel lesen

2008 | OriginalPaper | Buchkapitel

8. Robotic Systems Architectures and Programming

verfasst von : David Kortenkamp, PhD, Reid Simmons, Dr.

Erschienen in: Springer Handbook of Robotics

Verlag: Springer Berlin Heidelberg

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Robot software systems tend to be complex. This complexity is due, in large part, to the need to control diverse sensors and actuators in real time, in the face of significant uncertainty and noise. Robot systems must work to achieve tasks while monitoring for, and reacting to, unexpected situations. Doing all this concurrently and asynchronously adds immensely to system complexity.
The use of a well-conceived architecture, together with programming tools that support the architecture, can often help to manage that complexity. Currently, there is no single architecture that is best for all applications – different architectures have different advantages and disadvantages. It is important to understand those strengths and weaknesses when choosing an architectural approach for a given application.
This chapter presents various approaches to architecting robotic systems. It starts by defining terms and setting the context, including a recounting of the historical developments in the area of robot architectures. The chapter then discusses in more depth the major types of architectural components in use today – behavioral control (Chap. 38), executives, and task planners (Chap. 9) – along with commonly used techniques for interconnecting connecting those components. Throughout, emphasis will be placed on programming tools and environments that support these architectures. A case study is then presented, followed by a brief discussion of further reading.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Force Control
Nächstes Kapitel AI Reasoning Methods for Robotics
Literatur
8.1.
I. Jacobson, G. Booch, J. Rumbaugh: The Unified Software Development Process (Addison Wesley Longman, Reading 1998)
8.2.
J.S. Albus: RCS: A reference model architecture for intelligent systems, Working Notes: AAAI 1995 Spring Symposium on Lessons Learned from Implemented Software Architectures for Physical Agents (1995)
8.3.
R.A. Brooks: A robust layered control system for a mobile robot, IEEE J. Robot. Autom. 2(1), 14–23 (1986)CrossRef
8.4.
R.J. Firby: An Investigation into Reactive Planning in Complex Domains, Proc. of the Fifth National Conference on Artificial Intelligence (1987)
8.5.
R. Simmons: Structured control for autonomous robots, IEEE Trans. Robot. Autom. 10(1), 34–43 (1994)CrossRef
8.6.
J.J. Borrelly, E. Coste-Maniere, B. Espiau, K. Kapelos, R. Pissard-Gibollet, D. Simon, N. Turro: The ORCCAD architecture, Int. J. Robot. Res. 17(4), 338–359 (1998)CrossRef
8.7.
8.8.
R. Orfali, D. Harkey: Client/Server Programming with JAVA and CORBA (Wiley, New York 1997)
8.9.
R. Simmons, G. Whelan: Visualization Tools for Validating Software of Autonomous Spacecraft, Proc. of International Symposium on Artificial Intelligence, Robotics and Automation in Space (Tokyo 1997)
8.10.
R. A. Brooks: The Behavior Language: Userʼs Guide, Technical Report AIM-1227, MIT Artificial Intelligence Lab (1990)
8.11.
R.J. Firby, M.G. Slack: Task execution: Interfacing to reactive skill networks, Working Notes: AAAI Spring Symposium on Lessons Learned from Implemented Architecture for Physical Agents (Stanford 1995)
8.12.
E. Gat: ESL: A Language for Supporting Robust Plan Execution in Embedded Autonomous Agents, Proc. of the IEEE Aerospace Conference (1997)
8.13.
V. Verma, T. Estlin, A. Jónsson, C. Pasareanu, R. Simmons, K. Tso: Plan Execution Interchange Language (PLEXIL) for Executable Plans and Command Sequences, Proc. 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (Munich 2005)
8.14.
S.A. Schneider, V.W. Chen, G. Pardo-Castellote, H.H. Wang: ControlShell: A Software Architecture for Complex Electromechanical Systems, Int. J. Robot. Res. 17(4), 360–380 (1998)CrossRef
8.15.
8.16.
N.J. Nilsson: A Mobile Automaton: An Application of AI Techniques, Proc. of the First International Joint Conference on Artificial Intelligence (Morgan Kaufmann Publishers, San Francisco 1969) pp. 509–520
8.17.
N.J. Nilsson: Principles of Artificial Intelligence (Tioga, Palo Alto 1980)MATH
8.18.
P.E. Agre, D. Chapman: Pengi: An implementation of a theory of activity, Proc. of the Fifth National Conference on Artificial Intelligence (1987)
8.19.
R.C. Arkin: Behavior-Based Robotics (MIT Press, Cambridge 1998)
8.20.
J.H. Connell: SSS: A Hybrid Architecture Applied to Robot Navigation, Proc. IEEE International Conference on Robotics and Automation (1992) pp. 2719–2724
8.21.
M. Mataric: Integration of Representation into Goal-Driven Behavior-Based Robots, Proc. IEEE International Conference on Robotics and Automation (1992)
8.22.
I. Horswill: Polly: A Vision-Based Artificial Agent, Proc. of the National Conference on Artificial Intelligence (AAAI) (1993)
8.23.
D.W. Payton: An Architecture for Reflexive Autonomous Vehicle Control, Proc. IEEE International Conference on Robotics and Automation (1986)
8.24.
J.K. Rosenblatt: DAMN: A Distributed Architecture for Mobile Robot Navigation. Ph.D. Thesis (Carnegie Mellon Univ., Pittsburgh 1997)
8.25.
R.C. Arkin: Motor schema-based mobile robot navigation, Int. J. Robot. Res. 8(4), 92–112 (1989)CrossRef
8.26.
M. Arbib: Schema Theory. In: Encyclopedia of Artificial Intelligence, ed. by S. Shapiro (Wiley, New York 1992) pp. 1427–1443
8.27.
O. Khatib: Real-time obstacle avoidance for manipulators and mobile robots, Proc. of the IEEE International Conference on Robotics and Automation (1985) pp. 500–505
8.28.
R.C. Arkin: Integrating behavioral, perceptual, and world knowledge in reactive navigation, Robot. Autonom. Syst. 6, 105–122 (1990)CrossRef
8.29.
R.C. Arkin, T. Balch: AuRA: Principles and practice in review, J. Exp. Theor. Artif. Intell. 9(2/3), 175–188 (1997)CrossRef
8.30.
R.J. Firby: Adaptive Execution in Complex Dynamic Worlds. Ph.D. Thesis (Yale Univ., New Haven 1989)
8.31.
R.J. Firby: Task Networks for Controlling Continuous Processes, Proc. of the Second International Conference on AI Planning Systems (1994)
8.32.
R.P. Bonasso: Integrating Reaction Plans and layered competences through synchronous control, Proc. International Joint Conferences on Artificial Intelligence (1991)
8.33.
S.J. Rosenschein, L.P. Kaelbling: The synthesis of digital machines with provable epistemic properties, Proc. of the Conference on Theoretical Aspects of Reasoning About Knowledge (1998)
8.34.
L.P. Kaelbling: Goals as parallel program specifications, Proc. of the Sixth National Conference on Artificial Intelligence (1988)
8.35.
L. P. Kaelbling: Compiling Operator Descriptions into Reactive Strategies Using Goal Regression, Technical Report, Teleos Research, TR90-10, (1990)
8.36.
R.P. Bonasso, R.J. Firby, E. Gat, D. Kortenkamp, D.P. Miller, M.G. Slack: Experiences with an architecture for intelligent, reactive agents, J. Exp. Theor. Artif. Intell. 9(2/3), 237–256 (1997)CrossRef
8.37.
E. Gat: Integrating Planning and reacting in a heterogeneous asynchronous architecture for controlling real-world mobile robots, Proc. of the National Conference on Artificial Intelligence (AAAI) (1992)
8.38.
G.N. Saridis: Architectures for Intelligent Controls. In: Intelligent Control Systems: Theory and Applications, ed. by Gupta, Sinhm (IEEE Press, Piscataway 1995)
8.39.
R. Alami, R. Chatila, S. Fleury, M. Ghallab, F. Ingrand: An architecture for autonomy, Int. J. Robot. Res. 17(4), 315–337 (1998)CrossRef
8.40.
M. Ghallab, H. Laruelle: Representation and control in IxTeT, a temporal planner, Proc. of AIPS-94 (1994)
8.41.
P. Laborie, M. Ghallab: Planning with sharable resource constraints, Proc. of the International Joint Conference on Artificial Intelligence (1995)
8.42.
M.P. Georgeff, F.F. Ingrand: Decision-Making in an Embedded Reasoning System, Proc. of International Joint Conference on Artificial Intelligence (1989) pp. 972–978
8.43.
F. Ingrand, R. Chatila, R. Alami, F. Robert: PRS: A high level supervision and control language for autonomous mobile robots, Proc. of the IEEE International Conference On Robotics and Automation (1996)
8.44.
N.P. Muscettola, P. Nayak, B. Pell, B.C. Williams: Remote agent: To boldly go where no AI system has gone before, Artif. Intell. 103(1), 5–47 (1998)CrossRefMATH
8.45.
B.C. Williams, P.P. Nayak: A Model-based Approach to Reactive Self-Configuring Systems, Proc. of AAAI (1996)
8.46.
8.47.
B. Sellner, F.W. Heger, L.M. Hiatt, R. Simmons, S. Singh: Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly, Proc IEEE 94(7), 1425–1444 (2006), special issue on multi-agent systemsCrossRef
8.48.
D. Goldberg, V. Cicirello, M.B. Dias, R. Simmons, S. Smith, A. Stentz: Market-Based Multi-Robot Planning in a Distributed Layered Architecture. In: Multi-Robot Systems: From Swarms to Intelligent Automata, Vol. II, ed. by A. Schultz, L. Parker, F.E. Schneider (Kluwer, Dordrecht 2003)
8.49.
J.S. Albus, R. Lumia, H.G. McCain: NASA/NBS Standard Reference model for Telerobot Control System Architecture (NASREM), National Bureau of Standards, Tech Note #1235, NASA SS-GFSC-0027 (1986)
8.50.
D.R. Blidberg, S.G. Chappell: Guidance and control architecture for the EAVE vehicle, IEEE J. Ocean Eng. 11(4), 449–461 (1986)CrossRef
8.51.
R. Volpe, I. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das: The CLARAty architecture for robotic autonomy, Proc. of the IEEE Aerospace Conference (Big Sky 2001)
8.52.
I.A. Nesnas, R. Simmons, D. Gaines, C. Kunz, A. Diaz-Calderon, T. Estlin, R. Madison, J. Guineau, M. McHenry, I. Shu, D. Apfelbaum: CLARAty: Challenges and steps toward reusable robotic software, Int. J. Adv. Robot. Syst. 3(1), 023–030 (2006)
8.53.
T. Estlin, D. Gaines, C. Chouinard, F. Fisher, R. Castaño, M. Judd, R. Anderson, I. Nesnas: Enabling Autonomous Rover Science Through Dynamic Planning and Scheduling, Proc. of IEEE Aerospace Conference (Big Sky 2005)
8.54.
R. Knight, G. Rabideau, S. Chien, B. Engelhardt, R. Sherwood: CASPER: Space Exploration through Continuous Planning, IEEE Intell. Syst. 16(5), 70–75 (2001)
8.55.
R. Simmons, D. Apfelbaum: A Task Description Language for Robot Control, Proc. of Conference on Intelligent Robotics and Systems (Vancouver 1998)
8.56.
T.A. Estlin, D. Gaines, C. Chouinard, R. Castaño, B. Bornstein, M. Judd, I.A.D. Nesnas, R. Anderson: Increased Mars Rover Autonomy using AI Planning, Scheduling and Execution, Proc. of the International Conference On Robotics and Automation (2007) pp. 4911–4918
8.57.
D. Musliner, E. Durfee, K. Shin: World modeling for dynamic construction of real-time control plans, Artif. Intell. 74(1), 83–127 (1995)CrossRef
8.58.
D.J. Musliner, R.P. Goldman, M.J. Pelican: Using Model Checking to Guarantee Safety in Automatically-Synthesized Real-Time Controllers, Proc. of International Conference on Robotics and Automation (2000)
8.59.
B. Espiau, K. Kapellos, M. Jourdan: Formal Verification in Robotics: Why and How?, Proc. International Symposium on Robotics Research (Herrsching 1995)
8.60.
G. Berry, G. Gonthier: The Esterel synchronous programming language: Design, semantics, implementation, Sci. Comput. Program. 19(2), 87–152 (1992)CrossRefMATH
8.61.
M. Jourdan, F. Maraninchi, A. Olivero: Verifying quantitative real-time properties of synchronous programs, Proc. 5th International Conference on Computer-aided Verification (Springer, Elounda 1993), LNCS 697
8.62.
G. Pardo-Castellote, S.A. Schneider: The Network Data Delivery Service: Real-Time Data Connectivity for Distributed Control Applications, Proc. of International Conference on Robotics and Automation (1994) pp. 2870–2876
8.63.
8.64.
8.65.
8.66.
E. Gat: ALFA: A Language for Programming Reactive Robotic Control Systems, Proc. IEEE International Conference on Robotics and Automation (1991) pp. 116–1121
8.67.
R.A. Brooks: Elephants donʼt play chess, J. Robot. Autonom. Syst. 6, 3–15 (1990)CrossRef
8.68.
L.P. Kaelbling: Rex- A symbolic language for the design and parallel implementation of embedded systems, Proc. of the 6th AIAA Computers in Aerospace Conference (Wakefield 1987)
8.69.
E. Gat: Non-Linear Sequencing and Cognizant Failure, Proc. AIP Conference (1999)
8.70.
E. Gat: On the role of stored internal state in the control of autonomous mobile robots, AI Mag. 14(1), 64–73 (1993)MathSciNet
8.71.
J.L. Peterson: Petri Net Theory and the Modeling of Systems (Prentice Hall, Upper Saddle River 1981)
8.72.
K. Currie, A. Tate: O-Plan: The open planning architecture, Artif. Intell. 52(1), 49–86 (1991)CrossRef
8.73.
D.S. Nau, Y. Cao, A. Lotem, H. Muñoz-Avila: SHOP: Simple hierarchical ordered planner, Proc. of the International Joint Conference on Artificial Intelligence (1999) pp. 968–973
8.74.
S. Chien, R. Knight, A. Stechert, R. Sherwood, G. Rabideau: Using iterative repair to improve the responsiveness of planning and scheduling, Proc. of the International Conference on AI Planning and Scheduling (2000) pp. 300–307
8.75.
N. Muscettola: HSTS: Integrating planning and scheduling. In: Intelligent Scheduling, ed. by M. Fox, M. Zweben (Morgan Kaufmann, San Francisco 1994)
8.76.
R. Simmons, J. Fernandez, R. Goodwin, S. Koenig, J. OʼSullivan: Lessons Learned From Xavier, IEEE Robot. Autom. Mag. 7(2), 33–39 (2000)CrossRef
8.77.
8.78.
8.79.
D. Kortenkamp, R.P. Bonasso, R. Murphy: Artificial Intelligence and Mobile Robots (AAAI Press/The MIT Press, Cambridge 1998)
8.80.
R. Murphy: Introduction to AI Robotics (MIT Press, Cambridge 2000)
8.81.
R. Siegwart, I.R. Nourbakhsh: Introduction to Autonomous Mobile Robots (MIT Press, Cambridge 2004)
8.82.
R. Simmons, D. Goldberg, A. Goode, M. Montemerlo, N. Roy, B. Sellner, C. Urmson, A. Schultz, M. Abramson, W. Adams, A. Atrash, M. Bugajska, M. Coblenz, M. MacMahon, D. Perzanowski, I. Horswill, R. Zubek, D. Kortenkamp, B. Wolfe, T. Milam, B. Maxwell: GRACE: An autonomous robot for the AAAI Robot Challenge, AAAI Mag. 24(2), 51–72 (2003)
8.83.
R. Gockley, R. Simmons, J. Wang, D. Busquets, C. DiSalvo, K. Caffrey, S. Rosenthal, J. Mink, S. Thomas, W. Adams, T. Lauducci, M. Bugajska, D. Perzanowski, A. Schultz: Grace and George: Social Robots at AAAI, AAAI 2004 Mobile Robot Competition Workshop (AAAI Press, 2004), Technical Report WS-04-11, pp. 15–20
8.84.
M.P. Michalowski, S. Sabanovic, C. DiSalvo, D. Busquets, L.M. Hiatt, N.A. Melchior, R. Simmons: Socially Distributed Perception: GRACE plays social tag at AAAI 2005, Auton. Robot. 22(4), 385–397 (2007)CrossRef
Metadaten
Titel
Robotic Systems Architectures and Programming
verfasst von
David Kortenkamp, PhD
Reid Simmons, Dr.
Copyright-Jahr
2008
Buch
Springer Handbook of Robotics

Print ISBN: 978-3-540-23957-4

Electronic ISBN: 978-3-540-30301-5

Copyright-Jahr: 2008

DOI
https://doi.org/10.1007/978-3-540-30301-5_9

Neuer Inhalt

    Bildnachweise