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by Antonio C. Domnguez-brito, Magnus Andersson, Henrik I. Christensen
Centre for
ftp://mozart.dis.ulpgc.es/pub/Publications/desc.ps.gz
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Abstract:
Transfer and reuse of software designed specically to control robotic systems is dicult, and often apparently impossible due to the diversity of hardware and software typically involved. Software reuse is not only a problem of robotic systems. In other elds, as business software, "de facto " standard tools to dene software components can be found, and a supplier component software industry even exists. On the contrary in the robotic eld there are not any established standards to address this problem. The present work has been addressed to establish grounds to conceive what could be a feasible concept of software component for robotics systems. Software for control robotic systems may be very heterogeneous, involving numerous devices and software, but, from a generic point of view, it can be considered as a network of weakly coupled parallel and/or concurrent active entities { processes or threads { interacting asynchronously among them in some way. In this document is presented a software model which identies these active entities with software components and denes their interaction, modeling such entities as port automata, and their interaction through a small set of operators taken from process algebra. This software framework is presented along with a prototypical example, an obstacle avoidance behavior for a mobile robot, illustrating that transfer and reuse of code is possible using this software architecture.
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The Compound DES avoidance //header /* * File: CCoDESavoidance.java * Compiled by: DES Compiler v0.1 (desc) * Date: Tue 16 May 2000 13:35:53 */ ///header package DESpkg; //definition public class CCoDESavoidance extends CCompoundDES { private static CInst
– unknown authors
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The Port Packets C.1 The CMap class //header /* * File: CMap.java * Compiled by: DES Compiler v0.1 (desc) * Date: Tue 16 May 2000 13:35:53 */ ///header package DESpkg; //definition public class CMap extends CPortPacket ///definition { // The Copy method i
– unknown authors
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PACKETS 41 C.2 The CFreeSpace class //header /* * File: CFreeSpace.java * Compiled by: DES Compiler v0.1 (desc) * Date: Tue 16 May 2000 13:35:53 */ ///header package DESpkg; //definition public class CFreeSpace extends CPortPacket ///definition { // The C
– PORT
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