Reusable Software Components for Robots using Fuzzy Abstractions
Smith, Robert, Smith, Glenn P., & Wardhani, Aster W. (2003) Reusable Software Components for Robots using Fuzzy Abstractions. In Lovell, Brian C., Campbell, Duncan A., Fookes, Clinton B., & Maeder, Anthony J. (Eds.) Australian and New Zealand Intelligent Information Systems (ANZIIS) 2003, 10-12 December 2003, Sydney, Australia.
Mobile robots today, while varying greatly in design, often have a large number of similarities in terms of their tasks and goals. Navigation, obstacle avoidance, and vision are all examples. In turn, robots of similar design, but with varying configurations, should be able to share the bulk of their controlling software. Any changes required should be minimal and ideally only to specify new hardware configurations. However, it is difficult to achieve such flexibility, mainly due to the enormous variety of robot hardware available and the huge number of possible configurations. Monolithic controllers that can handle such variety are impossible to build.
This paper will investigate these portability problems, as well as techniques to manage common abstractions for user-designed components. The challenge is in creating new methods for robot software to support a diverse variety of robots, while also being easily upgraded and extended. These methods can then provide new ways to support the operational and functional reuse of the same high-level components across a variety of robots.
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|Item Type:||Conference Paper|
|Keywords:||robot software, software components, fuzzy logic, hardware abstractions|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Science and Technology|
|Copyright Owner:||Copyright 2003 (please consult author)|
|Deposited On:||22 Jun 2006 00:00|
|Last Modified:||29 Feb 2012 12:58|
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