| Title | System Integration Supporting Evolutionary Development and Design |
| Publication Type | Conference Paper |
| Year of Publication | 2009 |
| Authors | Spexard, T. P., and M. Hanheide |
| Conference Name | Human Centered Robotic Systems |
| Conference Start Date | 19/11/2009 |
| Publisher | Springer |
| Keywords | robotic systems, software integration, system architecture |
| Abstract | With robotic systems entering our daily life, they have to become
more flexible and subsuming a multitude of abilities in one single
integrated system. Subsequently an increased extensibility of the robots'
system architectures is needed. The goal is to facilitate a long-time
evolution of the integrated system in-line with the scientific progress on
the algorithmic level. In this paper we present an approach developed for an
event-driven robot architecture, focussing on the coordination and interplay
of new abilities and components. Appropriate timing, sequencing strategies,
execution guaranties, and process flow synchronization are taken into
account to allow appropriate arbitration and interaction between components
as well as between the integrated system and the user. The presented
approach features dynamic reconfiguration and global coordination based on
simple production rules. These are applied fist time in conjunction with
flexible representations in global memory spaces and an event-driven
architecture for adaptive robot control during runtime in complex
interactive human-robot scenarios. |
