Coordinating software components in a component-based architecture for robotics

  • Authors:

  • Geoffrey Biggs;Noriaki Ando;Tetsuo Kotoku

  • Affiliations:

  • Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  • Venue:
  • SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
  • Year:
  • 2010

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Abstract

Component-based software is a major design trend in robot software. It brings many benefits to system design, implementation and maintenance. One step in using component-based methods in designing the structure of a robot program is managing the components and the connections between them over time, known as coordination. In this paper we present a framework for coordinating component networks using the OpenRTM-aist software architecture, implemented using the concurrent Erlang language. The framework provides a coordination system that mimics the internal state-change notification system of OpenRTMaist. Rather than being a fixed- structure coordinator, it allows robot developers to implement a coordinator matching the style of coordination they need. This paper shows that Erlang has potential in robotics.