A Software System for Robotic Learning by Experimentation

  • Authors:

  • Iman Awaad;Ronny Hartanto;Beatriz León;Paul Plöger

  • Affiliations:

  • Bonn-Rhein-Sieg University of Applied Science, Sankt Augustin, Germany 53757;Bonn-Rhein-Sieg University of Applied Science, Sankt Augustin, Germany 53757;Universitat Jaume I, Castellon de la Plana, Spain;Bonn-Rhein-Sieg University of Applied Science, Sankt Augustin, Germany 53757

  • Venue:
  • SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
  • Year:
  • 2008

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Abstract

The goal of this work is to develop an integration framework for a robotic software system which enables robotic learning by experimentation within a distributed and heterogeneous setting. To meet this challenge, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well-defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Additionally, the successful integration of the XPERSim simulator into the system has enabled simultaneous quasi-realtime observation of the simulation by numerous, distributed users.