A real-time distributed software infrastructure for cooperating mobile autonomous robots
Autor(a) principal: | |
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Data de Publicação: | 2009 |
Outros Autores: | , , |
Tipo de documento: | Livro |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/10216/70043 |
Resumo: | Cooperating mobile autonomous robots have been generating a growing interest in fields such as rescue, demining and security. These applications require a real time middleware and wireless communication protocol that can effecient and timely support the fusion of the distributed perception and the development of coordinated behaviors. This paper proposes an affordable middleware, based on low-cost and open-source COTS technologies, which relies on a real-time database partially replicated in all team members, containing both local and remote state variables, in a distributed shared memory style. This provides seamless access to the complete team state, with fast non-blocking local operations. The remote data is updated autonomously in the background by a WiFi-based wireless communication protocol, at an adequate refresh rate. The software infrastruture is complemented with a task manager that provides scheduling and synchronization services to the application processes on top of the Linux operating system. Such infrastructure has been successfully used for four years in one RoboCup middle-size soccer team, and it has proved to be dependable in the presence of uncontrolled spurious traffic in the communication channel, using an adaptive technique to synchronizating the robots in the team and reconfiguring the communications dynamically and automatically according, to the number of currently active team members. |
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A real-time distributed software infrastructure for cooperating mobile autonomous robotsEngenharia de computadores, Engenharia electrotécnica, electrónica e informáticaComputer engineering, Electrical engineering, Electronic engineering, Information engineeringCooperating mobile autonomous robots have been generating a growing interest in fields such as rescue, demining and security. These applications require a real time middleware and wireless communication protocol that can effecient and timely support the fusion of the distributed perception and the development of coordinated behaviors. This paper proposes an affordable middleware, based on low-cost and open-source COTS technologies, which relies on a real-time database partially replicated in all team members, containing both local and remote state variables, in a distributed shared memory style. This provides seamless access to the complete team state, with fast non-blocking local operations. The remote data is updated autonomously in the background by a WiFi-based wireless communication protocol, at an adequate refresh rate. The software infrastruture is complemented with a task manager that provides scheduling and synchronization services to the application processes on top of the Linux operating system. Such infrastructure has been successfully used for four years in one RoboCup middle-size soccer team, and it has proved to be dependable in the presence of uncontrolled spurious traffic in the communication channel, using an adaptive technique to synchronizating the robots in the team and reconfiguring the communications dynamically and automatically according, to the number of currently active team members.20092009-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://hdl.handle.net/10216/70043engFrederico SantosLuís AlmeidaPaulo PedreirasLuís Seabra Lopesinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:38:48Zoai:repositorio-aberto.up.pt:10216/70043Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:05:55.824680Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
title |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
spellingShingle |
A real-time distributed software infrastructure for cooperating mobile autonomous robots Frederico Santos Engenharia de computadores, Engenharia electrotécnica, electrónica e informática Computer engineering, Electrical engineering, Electronic engineering, Information engineering |
title_short |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
title_full |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
title_fullStr |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
title_full_unstemmed |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
title_sort |
A real-time distributed software infrastructure for cooperating mobile autonomous robots |
author |
Frederico Santos |
author_facet |
Frederico Santos Luís Almeida Paulo Pedreiras Luís Seabra Lopes |
author_role |
author |
author2 |
Luís Almeida Paulo Pedreiras Luís Seabra Lopes |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Frederico Santos Luís Almeida Paulo Pedreiras Luís Seabra Lopes |
dc.subject.por.fl_str_mv |
Engenharia de computadores, Engenharia electrotécnica, electrónica e informática Computer engineering, Electrical engineering, Electronic engineering, Information engineering |
topic |
Engenharia de computadores, Engenharia electrotécnica, electrónica e informática Computer engineering, Electrical engineering, Electronic engineering, Information engineering |
description |
Cooperating mobile autonomous robots have been generating a growing interest in fields such as rescue, demining and security. These applications require a real time middleware and wireless communication protocol that can effecient and timely support the fusion of the distributed perception and the development of coordinated behaviors. This paper proposes an affordable middleware, based on low-cost and open-source COTS technologies, which relies on a real-time database partially replicated in all team members, containing both local and remote state variables, in a distributed shared memory style. This provides seamless access to the complete team state, with fast non-blocking local operations. The remote data is updated autonomously in the background by a WiFi-based wireless communication protocol, at an adequate refresh rate. The software infrastruture is complemented with a task manager that provides scheduling and synchronization services to the application processes on top of the Linux operating system. Such infrastructure has been successfully used for four years in one RoboCup middle-size soccer team, and it has proved to be dependable in the presence of uncontrolled spurious traffic in the communication channel, using an adaptive technique to synchronizating the robots in the team and reconfiguring the communications dynamically and automatically according, to the number of currently active team members. |
publishDate |
2009 |
dc.date.none.fl_str_mv |
2009 2009-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/book |
format |
book |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/10216/70043 |
url |
https://hdl.handle.net/10216/70043 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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1799135983370764289 |