POSIX.4: programming for the real world
POSIX.4: programming for the real world
Applying UML and patterns: an introduction to object-oriented analysis and design
Applying UML and patterns: an introduction to object-oriented analysis and design
Advanced CORBA programming with C++
Advanced CORBA programming with C++
Multicasting on the Internet and Its Applications
Multicasting on the Internet and Its Applications
TCP/IP Complete
Measurement Programs in Software Development: Determinants of Success
IEEE Transactions on Software Engineering
Assistive navigation of a robotic wheelchair using a multihierarchical model of the environment
Integrated Computer-Aided Engineering
Improving efficiency in mobile robot task planning through world abstraction
IEEE Transactions on Robotics
Control Architecture for Human–Robot Integration: Application to a Robotic Wheelchair
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
ppPDC Communication Framework --- A New Tool for Distributed Robotics
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Programming multirobot applications using the ThinkingCap-II Java framework
Advanced Engineering Informatics
H: A component-based specification language for heterogeneous applications
Computer Standards & Interfaces
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One of the most evident characteristics of robotic applications is heterogeneity: large robotic projects involve many different researchers with very different programming needs and areas of research, using a variety of hardware and software that must be integrated efficiently (i.e.: with a low development cost) to construct applications that satisfy not only classic robotic requirements (fault-tolerance, real-time specifications, intensive access to hardware, etc.) but also software engineering aspects (reusability, maintainability, etc.). Most existing solutions to this problem either do not deal with such heterogeneity or do not cover specific robotic needs. In this paper we propose a framework for the integration of heterogeneous robotic software through a software engineering approach: the BABEL development system, which is aimed to cover the main phases of the application lifecycle (design, implementation, testing, and maintainance) when unavoidable heterogeneity conditions are present. The capabilities of our system are shown by its support for designing and implementing diverse real robotic applications that use several programming languages (C, C++, JAVA), execution platforms (RT-operating systems, MS-Windows, no operating system at all), communication middleware (CORBA, TCP/IP, USB), and also a variety of hardware components (Personal Computers, microcontrollers, and a wide diversity of sensor and actuator devices in mobile robots and manipulator arms).