论文标题
同步机器人框架
Synchronous Robotic Framework
论文作者
论文摘要
我们提出了一个称为Syrof的同步机器人测试床，该测试床可以快速实施机器人群。我们的主要目标是降低针对本科和研究生合作机器人系统的进入障碍。测试床提供了一个高级编程环境，允许实现定时输入/输出自动机（TIOA）。 Syrof提供了以下独特的特征：1）一种透明机制，可以同步机器人操作，2）具有失败探测器的会员服务，以及3）透明的服务，可在每回合中提供常识。这些特征对于简化机器人群的实施至关重要。该软件分为五层：下层由一个实时发布订阅系统组成，该系统允许任务之间有效通信。下一层是实现卡尔曼过滤器，以估计机器人的位置，方向和速度。第三层由同步执行机器人操作的同步器组成，为所有活跃的参与者提供常识，并处理失败。第五层由编程环境组成。
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides a high-level programming environment that allows the implementation of Timed Input/Output Automata (TIOA). SyROF offers the following unique characteristics: 1) a transparent mechanism to synchronize robot maneuvers, 2) a membership service with a failure detector, and 3) a transparent service to provide common knowledge in every round. These characteristics are fundamental to simplifying the implementation of robotic swarms. The software is organized in five layers: The lower layer consists of a real-time publish-subscribe system that allows efficient communication between tasks. The next layer is an implementation of a Kalman filter to estimate the position, orientation, and speed of the robot. The third layer consists of a synchronizer that synchronously executes the robot maneuvers, provides common knowledge to all the active participants, and handles failures. The fifth layer consists of the programming environment.
