DSAAR: distributed software architecture for autonomous robots

Detalhes bibliográficos
Autor(a) principal: Santos, Vasco Pedro dos Anjos e
Data de Publicação: 2009
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/1913
Resumo: Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica
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spelling DSAAR: distributed software architecture for autonomous robotsMulti-agent systemsMobile robotsSoftware architecturesDistributed architecturesTeleoperationHuman-robot awarenessDissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia ElectrotécnicaThis dissertation presents a software architecture called the Distributed Software Architecture for Autonomous Robots (DSAAR), which is designed to provide the fast development and prototyping of multi-robot systems. The DSAAR building blocks allow engineers to focus on the behavioural model of robots and collectives. This architecture is of special interest in domains where several human, robot, and software agents have to interact continuously. Thus, fast prototyping and reusability is a must. DSAAR tries to cope with these requirements towards an advanced solution to the n-humans and m-robots problem with a set of design good practices and development tools. This dissertation will also focus on Human-Robot Interaction, mainly on the subject of teleoperation. In teleoperation human judgement is an integral part of the process, heavily influenced by the telemetry data received from the remote environment. So the speed in which commands are given and the telemetry data is received, is of crucial importance. Using the DSAAR architecture a teleoperation approach is proposed. This approach was designed to provide all entities present in the network a shared reality, where every entity is an information source in an approach similar to the distributed blackboard. This solution was designed to accomplish a real time response, as well as, the completest perception of the robots’ surroundings. Experimental results obtained with the physical robot suggest that the system is able to guarantee a close interaction between users and robot.FCT - UNLCorreia, LuísBarata, JoséRUNSantos, Vasco Pedro dos Anjos e2009-04-24T09:22:27Z20092009-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/1913enginfo: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:RCAAP2024-03-11T03:32:04Zoai:run.unl.pt:10362/1913Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:14:55.817361Repositório 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 DSAAR: distributed software architecture for autonomous robots
title DSAAR: distributed software architecture for autonomous robots
spellingShingle DSAAR: distributed software architecture for autonomous robots
Santos, Vasco Pedro dos Anjos e
Multi-agent systems
Mobile robots
Software architectures
Distributed architectures
Teleoperation
Human-robot awareness
title_short DSAAR: distributed software architecture for autonomous robots
title_full DSAAR: distributed software architecture for autonomous robots
title_fullStr DSAAR: distributed software architecture for autonomous robots
title_full_unstemmed DSAAR: distributed software architecture for autonomous robots
title_sort DSAAR: distributed software architecture for autonomous robots
author Santos, Vasco Pedro dos Anjos e
author_facet Santos, Vasco Pedro dos Anjos e
author_role author
dc.contributor.none.fl_str_mv Correia, Luís
Barata, José
RUN
dc.contributor.author.fl_str_mv Santos, Vasco Pedro dos Anjos e
dc.subject.por.fl_str_mv Multi-agent systems
Mobile robots
Software architectures
Distributed architectures
Teleoperation
Human-robot awareness
topic Multi-agent systems
Mobile robots
Software architectures
Distributed architectures
Teleoperation
Human-robot awareness
description Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica
publishDate 2009
dc.date.none.fl_str_mv 2009-04-24T09:22:27Z
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/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/1913
url http://hdl.handle.net/10362/1913
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.publisher.none.fl_str_mv FCT - UNL
publisher.none.fl_str_mv FCT - UNL
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
repository.mail.fl_str_mv
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