Publication

Real-time software for mobile robot simulation and experimentation in cooperative environments

Conference Article

Conference

International Conference on Simulation, Modelling, and Programming for Autonomous Robots (SIMPAR)

Edition

1st

Pages

135-146

Doc link

http://dx.doi.org/10.1007/978-3-540-89076-8_16

File

Download the digital copy of the doc pdf document

Abstract

This paper presents the software being developed at IRI (Institut de Robotica i Informatica Industrial) for mobile robot autonomous navigation in the context of the European project URUS (Ubiquitous Robots in Urban Settings). In order that a deployed sensor network and robots operating in the environment cooperate in terms of information sharing, main requirements are real-time performance and the integration of information coming from remote machines not onboard the robot. Moreover, the project involves a group of eleven industrial and academic partners, therefore software integration issues are critical. The proposed software framework is based on the YARP middleware and has been tested in real and simulated experiments.

Categories

robot programming.

Author keywords

mobile robot software, real-time, sensor networks

Scientific reference

A. Corominas Murtra, J. M. Mirats Tur, O. Sandoval and A. Sanfeliu. Real-time software for mobile robot simulation and experimentation in cooperative environments, 1st International Conference on Simulation, Modelling, and Programming for Autonomous Robots, 2008, Venècia, Italia, in Simulation, Modeling, and Programming for Autonomous Robots, Vol 5321 of Lecture Notes in Computer Science, pp. 135-146, 2008, Springer, Berlin, Alemanya.