Synchronous Robotic Framework
2020 16th International Conference on Distributed Computing in Sensor Systems (DCOSS)(2020)
摘要
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides a high-level programming environment that allows the implementation of Timed Input/Output Automata (TIOA). Sy-ROF offers the following unique characteristics: 1) a transparent mechanism to synchronize robot maneuvers, 2) a membership service with a failure detector, and 3) a transparent service to provide common knowledge in every round. These characteristics are fundamental to simplifying the implementation of robotic swarms. The software is organized in five layers: The lower layer consists of a real-time publish-subscribe system that allows efficient communication between tasks. The next layer is an implementation of a Kalman filter to estimate the position, orientation, and speed of the robot. The third layer consists of a synchronizer that synchronously executes the robot maneuvers, provides common knowledge to all the active participants, and handles failures. The fifth layer consists of the programming environment.
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关键词
robotic swarms,cooperative-robot systems,undergraduate students,high-level programming environment,robot maneuvers,membership service,transparent service,synchronizer,synchronous robotic framework,synchronous robotic testbed,SyROF,graduate students,timed input/output automata,failure detector,real-time publish-subscribe system,Kalman filter,position estimation,robot orientation,robot speed
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