On Device Abstractions for Portable, Reusable Robot Code

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On Device Abstractions for Portable, Reusable Robot Code (2003)

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by Richard T. Vaughan , Brian P. Gerkey , Andrew Howard

Venue:	In IEEE/RSJ International Conference on Intelligent Robots and Systems
Citations:	86 - 8 self

BibTeX

@INPROCEEDINGS{Vaughan03ondevice,
    author = {Richard T. Vaughan and Brian P. Gerkey and Andrew Howard},
    title = {On Device Abstractions for Portable, Reusable Robot Code},
    booktitle = {In IEEE/RSJ International Conference on Intelligent Robots and Systems},
    year = {2003},
    pages = {2421--2427}
}

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Abstract

We seek to make robot programming more efficient by developing a standard abstract interface for robot hardware, based on familiar techniques from operating systems and network engineering. This paper describes the application of three well known abstractions, the character device model, the interface/driver model, and the client/server model to this purpose. These abstractions underlie Player/Stage, our Open Source project for rapid development of robot control systems. One product of this project is the Player Abstract Device Interface (PADI) specification, which denes a set of interfaces that capture the functionality of logically similar sensors and actuators. This specification is the central abstraction that enables Player-based controllers to run unchanged on a variety of real and simulated devices. We propose that PADI could be a starting point for development of a standard platform for robot interfacing, independent of Player, to enable code portability and re-use, while still providing access to the unique capabilities of individual devices.

Keyphrases

device abstraction reusable robot code code portability robot hardware standard platform familiar technique open source project network engineering robot interfacing starting point rapid development similar sensor individual device player stage client server model unique capability simulated device interface driver model player-based controller standard abstract interface central abstraction robot control system character device model player abstract device interface

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