From a CORBA-based software framework to a component-based system architecture for controlling a mobile robot

Authors:
Stefan A. Blum
Affiliations:
Institute for Real-Time Computer Systems, Technische Universität München, Germany
Venue:
ICVS'03 Proceedings of the 3rd international conference on Computer vision systems
Year:
2003

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Abstract

We present the general purpose system architecture OSCAR (Operating System for the Control of Autonomous Robots) for mobile robots that completely relies on a software framework embedding several component types and the related "glue code". The underlying framework defines the necessary infrastructure in several ways: interfaces and data flow are standardized as well as configuration, booting, shutdown and several development constraints and facilities. All communication issues are covered by employing the CORBAmiddle-w are standard. The architecture itself defines a behavior-based control system that easily can be adapted to different tasks of a mobile robot if the related components are available. Anet work established between several laboratories will support the exchange of components for rapid software development for robotic systems.