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.

PDF (84kB)


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.

Impact and interest:

Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

255 since deposited on 22 Jun 2006
12 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 4567
Item Type: Conference Paper
Refereed: Yes
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

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page