A component-based architecture for flexible integration of robotic systems

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 6107-6112

  Jung, Min Yang ^a   Deguet, Anton ^a   Kazanzides, Peter ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

APPLICATION SOFTWARES; COMPONENT-BASED ARCHITECTURE; COMPONENT-BASED FRAMEWORK; DATA EXCHANGE; DIFFERENT PROCESS; DISTRIBUTED SYSTEMS; FLEXIBLE INTEGRATION; INTEGRATED SYSTEMS; LOCK-FREE; LOCK-FREE DATA STRUCTURES; MIDDLEWARE SERVICES; MULTIPLE THREADS; MULTITHREADED; OPERATING SYSTEMS; PROGRAMMING MODELS; REAL TIME PERFORMANCE; REAL-TIME ROBOTS; ROBOT CONTROLS; ROBOT-ASSISTED SURGERY; ROBOTIC SYSTEMS; SINGLE PROCESS; SOFTWARE FRAMEWORKS;

COMPUTER OPERATING SYSTEMS; DATA STRUCTURES; INTEGRATED CONTROL; INTEGRATED OPTICS; INTELLIGENT ROBOTS; MIDDLEWARE; STANDARDS;

DISTRIBUTED COMPUTER SYSTEMS;

EID: 78651470829     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5652394     Document Type: Conference Paper

References (24)

1. The Surgical Assistant Workstation (SAW). [Online]. Available: http://www.cisst.org/saw
2. B. Vagvolgyi, S. DiMaio, A. Deguet, P. Kazanzides, R. Kumar, C. Hasser, and R. Taylor, "The Surgical Assistant Workstation: a software framework for telesurgical robotics research," in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal, Sep 2008. [Online]. Available: http://hdl.handle.net/10380/1466
3. S. P. DiMaio and C. J. Hasser, "The da Vinci research interface," in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal, Sep 2008. [Online]. Available: http://hdl.handle.net/10380/1464
4. A. Deguet, R. Kumar, R. Taylor, and P. Kazanzides, "The cisst libraries for computer assisted intervention systems," in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal, Sep 2008. [Online]. Available: http://hdl.handle.net/10380/1465
5. T. Niemueller, "Developing a behavior engine for the Fawkes robot-control software and its adaptation to the humanoid platform Nao," Master's Thesis, RWTH Aachen University, Knowledge-Based Systems Group, April 2009.
6. G. Broten, S. Monckton, J. Giesbrecht, and J. Collier, "Software systems for robotics: An applied research perspective," Intl. Journal of Advanced Robotic Systems, vol. 3, no. 1, pp. 11-16, Nov 2006.
7. A. Kapoor, A. Deguet, and P. Kazanzides, "Software components and frameworks for medical robot control," in IEEE Intl. Conf. on Robotics and Automation (ICRA), May 2006, pp. 3813-3818.
8. Y. hsin Kuo and B. MacDonald, "A distributed real-time software framework for robotic applications," in IEEE Intl. Conf. on Robotics and Automation (ICRA), Apr 2005, pp. 1964-1969.
9. T. H. Collett, B. A. MacDonald, and B. P. Gerkey, "Player 2.0: Toward a practical robot programming framework," in Proc. of the Australasian Conf. on Robotics and Automation (ACRA), Sydney, Australia, 2005.
10. E. Woo, B. A. MacDonald, and F. Trépanier, "Distributed mobile robot application infrastructure," in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Las Vegas, Oct 2003, pp. 1475-80.
11. Robot standards and reference architectures. [Online]. Available: http://www.robot-standards.org
12. B. P. Gerkey, R. T. Vaughan, and A. Howard, "The Player/Stage project: Tools for multi-robot and distributed sensor systems," in Proc. Intl. Conf. on Advanced Robotics (ICAR), 2003, pp. 317-323.
13. H. Bruyninckx, P. Soetens, and B. Koninckx, "The real-time motion control core of the Orocos project," in IEEE Intl. Conf. on Robotics and Automation (ICRA), vol. 2, Sep 2003, pp. 2766-2771 vol.2.
14. A. Brooks, T. Kaupp, A. Makarenko, S. Williams, and A. Oreback, "Towards component-based robotics," in Intl. Conf. on Intelligent Robots and Systems (IROS), Aug 2005, pp. 163-168.
15. A. Makarenko, A. Brooks, and T. Kaupp, "Orca: Components for robotics," in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Workshop on Robotic Standardization, Dec 2006.
16. M. Henning, "A new approach to object-oriented middleware," IEEE Internet Computing, vol. 8, no. 1, pp. 66-75, Jan-Feb 2004.
17. M. Quigley, K. Conley, B. Gerkey, J. Faust, T. B. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, "ROS: an open-source robot operating system," in ICRA Workshop on Open Source Software, 2009.
18. The cisst libraries. [Online]. Available: http://www.cisst.org/cisst
19. D. Brugali and P. Scandurra, "Component-based robotic engineering (Part I)," IEEE Robotics & Automation Magazine, pp. 84-96, Dec 2009.
20. P. Kazanzides, A. Deguet, and A. Kapoor, "An architecture for safe and efficient multi-threaded robot software," in IEEE Conf. on Technologies for Practical Robot Applications (TePRA), Nov 2008, pp. 89-93.
21. E. Gamma, R. Helm, R. Johnson, and J. M. Vlissides, Design Patterns: Elements of Reusable Object-Oriented Software. Addison-Wesley Professional, 1994.
22. M. Reggiani, M. Zuppini, and P. Fiorini, "A software framework for process control in the agroindustrial sector," in IEEE Intl. Conf. on Automation Science and Engineering (CASE), Sep 2007, pp. 164-169.
23. G. S. Broten, D. Mackay, S. P. Monckton, and J. Collier, "The robotics experience," IEEE Robotics and Automation Magazine, vol. 16, no. 1, pp. 46-54, Mar 2009.
24. M. Henning, "Choosing middleware: Why performance and scalability do (and do not) matter," Feb 2009. [Online]. Available: http://www.zeroc.com/ articles/IcePerformanceWhitePaper.pdf