A real-time software framework for indoor navigation

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2085-2090

  Pont, Frederic ^a   Siegwart, Roland ^a  

^a EPFL   (Switzerland)

Author keywords

Component based software; Indoor navigation; Real time; Software framework

Indexed keywords

COMPUTER PROGRAMMING; COMPUTER SOFTWARE PORTABILITY; COMPUTER SOFTWARE REUSABILITY; INDOOR POSITIONING SYSTEMS; INTELLIGENT ROBOTS; INTERACTIVE COMPUTER SYSTEMS; MOBILE ROBOTS; NAVIGATION;

AUTONOMOUS MOBILE ROBOT; COMPONENT BASED SOFTWARE; IN-DOOR NAVIGATIONS; REAL TIME; REAL TIME CAPABILITY; REAL-TIME SOFTWARE FRAMEWORK; SOFTWARE COMPONENT; SOFTWARE FRAMEWORKS;

REAL TIME SYSTEMS;

EID: 34250633523     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545524     Document Type: Conference Paper

References (24)

1. R. A. Brooks, "A robust layered control system for a mobile robot, " IEEE Journal of Robotics and Automation, vol. 2, no. 1, pp. 14- 23, March 1986.
2. R. C. Arkin, Behaviour Based Robotics. Intelligent Robots and Autonomous Agents, MIT Press, 1998.
3. E. Gat, "On three-layer architectures, " Artificial Intelligence and Mobile Robots. MIT/AAAI Press, 1997.
4. K. Konolige and K. Myers, "The saphira architecture for autonomous mmobile robots, " Tech. Rep., Artificial Intelligence Center, SRI International, 1996.
5. R. Volpe, I. Nesnas, T. Estlin, D. Mutz, R. Petras, and H. Das, "The CLARAty architecture for robotic autonomy, " in IEEE Aerospace Conference Proceedings, Big Sky, Montana, March 2001, pp. 121- 132.
6. B. Gerkey, R. Vaughan, K. Sty, A. Howard, G. Sukhatme, and M. Mataric, "Most valuable player: A robot device server for distributed control, " in Proceedings of the International Conference on Intelligent Robots and Systems, Wailea, Hawaii, October 2001, pp. 1226-1231. (Pubitemid 34683817)
7. R. T. Vaughan, B. P. Gerkey, and A. Howard, "On device abstractions for portable, reusable robot code, " in Proceedings of the International Conference on Intelligent Robots and Systems, Las Vegs, Nevada, October 2003, pp. 2121-2427.
8. "ORCA-Robotics, " http://orca-robotics.sourceforge.net/.
9. W. Li, H. I. Christensen, A. Oreback, and D. Chen, "An architecture for indoor navigation, " in Proceedings of the International Conference on Robotics and Automation (ICRA), April 2004.
10. A. Oreback, A Component Framework for Autonomous Mobile Robots, Ph.D. thesis, KTH Stockholm, 2004.
11. G. T. Heineman and W. T. Councill, Component-Based Software Engineering: Putting the Pieces Together, Addison Wesley Professional, 2001.
12. "Orocos, " http://www.orocos.org/.
13. C. Cote, D. Letourneau, F. Michaud, J.-M. Valin, Y. Brosseau, C. Raievsky, M. Lemay, and V. Tran, "Code reusability tools for programming mobile robots, " in Proceedings of the Conference on Intelligent Robots and Systems (IROS), 2004.
14. M. Montemerlo, N. Roy, and S. Thrun, "Perspectives on standardization in mobile robot programming: The carnegie mellon navigation (CARMEN) toolkit, " in Proceedings of the Conference on Intelligent Robots and Systems (IROS), 2003.
15. A. Pasetti, "Software Frameworks and embedded Control Systems", vol. 2231 of Lecture Notes in Computer Science, Springer-Verlag, 2002.
16. R. Brega, N. Tomatis, and K.O. Arras, "The need for autonomy and real-time in mobile robotics: A case study of xo/2 and pygmalion, " in Proceedings of the Conference on Intelligent Robots and Systems (IROS), 2000.
17. "RTAI: Real-time application interface, " http://www.rtai.org.
18. "RoboX, " http://robotics.epfl.ch.
19. F. Pont and R. Siegwart, "Towards improving robotic software reusability without losing real-time capabilities., " in ICINCO (2), 2004, pp. 291-294.
20. S. Fleury, M. Herrb, and R. Chatila, "GenoM: a tool for the specification and the implementation of operating modules in a distributed robot architecture, " in Proceedings of the International Conference on Intelligent Robots and Systems, Genoble, France, September 1997, pp. 842-848.
21. A. Mallet, S. Fleury, and H. Bruyninckx, "A specification of generic robotics software components: future evolutions of genom in the orocos context, " in International Conference on Intelligent Robotics and Systems, Lausanne (Switzerland), Oct. 2002, IEEE.
22. "Laas open software for autonomous systems, " http://softs.laas.fr/openrobots/.
23. J. Minguez and L. Montano, "Nearness diagram navigation (nd): A new real time collision avoidance approach for holonomic and no holonomic mobile robots, " 2000.
24. T. Pavlidis and S. Horowitz, "Segmentation of planar curves, " IEEE Transactions on Computers, vol. C-23, no. 8, pp. 860-870, 1974.