Artificial Intelligence: A Modern Approach
Artificial Intelligence: A Modern Approach
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Designing Collaborative Agents with eXAT
WETICE '04 Proceedings of the 13th IEEE International Workshops on Enabling Technologies: Infrastructure for Collaborative Enterprises
ERESYE: artificial intelligence in Erlang programs
Proceedings of the 2005 ACM SIGPLAN workshop on Erlang
Teaching Erlang using robotics and player/stage
Proceedings of the 8th ACM SIGPLAN workshop on ERLANG
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This paper presents an Erlang-based framework, developed by the authors, for the realisation of software systems for autonomous mobile robots. On the basis of the analysis of the main problems arising in the design and implementation of such a kind of robots, a software infrastructure has been derived, organised in a set of layers, each one composed by some modules. This layered architecture is employed to separate hardware interfacing problems from control loops and high-level strategy tasks; such an organisation allows also a developer to concentrate only on the specific problem to be dealt with, and to immediately identify the module or layer to be involved for the realisation of a specific functionality. The proposed structure also favours reuse and rapid refactoring, since the replacement of a piece of hardware or a change in a functionality requires only few changes on a specific module, leaving the remaining system untouched. The overall software architecture is described in the paper, as well as the functionality of the various modules composing it; the advantages introduced by the framework are also highlighted, while some examples and a case study are used to show its effectiveness.