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Building a software architecture for a human-robot team using the ORCA framework

Kaupp, Tobias. , Brooks, Alex. , Upcroft, Ben, & Makarenko, Alexi. (2007) Building a software architecture for a human-robot team using the ORCA framework. In Proceedings 2007 IEEE International Conference on Robotics and Automation, IEEE, Rome, Italy, pp. 3736-3741.

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Abstract

This paper considers the problem of building a software architecture for a human-robot team. The objective of the team is to build a multi-attribute map of the world by performing information fusion. A decentralized approach to information fusion is adopted to achieve the system properties of scalability and survivability. Decentralization imposes constraints on the design of the architecture and its implementation. We show how a Component-Based Software Engineering approach can address these constraints. The architecture is implemented using Orca – a component-based software framework for robotic systems. Experimental results from a deployed system comprised of an unmanned air vehicle, a ground vehicle, and two human operators are presented. A section on the lessons learned is included which may be applicable to other distributed systems with complex algorithms. We also compare Orca to the Player software framework in the context of distributed systems.

Impact and interest:

3 citations in Scopus
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2 citations in Web of Science®

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ID Code: 41635
Item Type: Conference Paper
Keywords: Orca framework, robotic systems, multiattribute map, software architecture, information fusion, component-based software engineering, distributed systems, ground vehicle, human operators, human-robot team, unmanned air vehicle
DOI: 10.1109/ROBOT.2007.364051
ISBN: 1424406013
ISSN: 10504729
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2007 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 11 May 2011 12:38
Last Modified: 01 Mar 2012 11:50

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