Real-time linux framework for designing parallel mobile robotic applications

Authors:
Joan Aracil;Carlos Domínguez;Houcine Hassan;Alfons Crespo
Affiliations:
Department of Computer Engineering (DISCA), Universidad Politécnica de Valencia, Valencia, Spain;Department of Computer Engineering (DISCA), Universidad Politécnica de Valencia, Valencia, Spain;Department of Computer Engineering (DISCA), Universidad Politécnica de Valencia, Valencia, Spain;Department of Computer Engineering (DISCA), Universidad Politécnica de Valencia, Valencia, Spain
Venue:
ICA3PP'10 Proceedings of the 10th international conference on Algorithms and Architectures for Parallel Processing - Volume Part II
Year:
2010

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Abstract

A real-time emotional architecture (RTEA) for building parallel robotic applications is presented. RTEA allows the application developer to focus in the design and implementation of the agent processes, because the architecture itself solves, in an autonomous way the decision about the attention to be paid to each of these processes. From the functional point of view, an RTEA selects and adapts its objectives depending on its physical (actuators) and its mental (processing) capabilities. This characteristic makes the architecture a useful solution in such applications that have to deal with several simultaneous tasks, that has real-time constraints, and where the objectives are defined in a flexible way. From the viewpoint of the design and development of applications, RTEA defines its different entities as independent modules. This modularity facilitates the programmer the development of each part of the project. To control the processing capacity of the agent and to guarantee the fulfilment of the temporal constraints of the processes, RTEA has been implemented in a real-time kernel (rt-linux). Mobile robot Experiments have been carried out to show how emotional system influence the mental organisation of the robot when it performs navigational tasks under different environmental conditions.