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
Authors
Projects associated
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.
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