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- W1510611671 abstract "Various tools for development of software for mobile robots have been proposed over the last two decades. These tools exist at many levels of abstraction, and are designed to support the development in different ways. At the highest level, both the hierarchical, reactive, and hybrid robotic paradigms are represented by a number of architectures that implement the general ideas within the respective paradigm. These architectures describe, on a high level, different ways to organize the main components to achieve the overall goal of designing and constructing an intelligent mobile robot. At the intermediate and low levels, there exists a number of general systems for development of robotic software However, it is our firm belief that all levels of tools mentioned above overlook important issues regarding target machines, actuators, and sensors. Some of the intermediate level systems do include handling of sensors and actuators, but do not pay enough attention to them in a more systematic and general way. The work presented here attempts to fill this gap, and provides a link between physical sensors/actuators (or rather their software counterparts: the driver routines) and the overall control program. Furthermore, the proposed system deals with multiple target machines and communication between software modules placed on the same, or different, computers. These issues become more and more important as the complexity of the developed robots increases, and support for them should, in our opinion, exist in the development process. The system has been developed as part of an ongoing project for an autonomous path-tracking forest machine. The forest machine is intended to move autonomously along a recorded path through a changing environment. The machine has a number of sensors (e.g. position, obstacle, speed) and actuators (steering angle, throttle) to its aid. The numbers and types of sensors and actuators have varied during the development process, partly as a result of investigation of different sensor types, and partly as a result of the use of different vehicles. The project uses a small Pioneer robot for fast development, a software simulator for system testing and a Valmet 930 Forwarder for outdoor real-life testing of the system. This dynamic environment puts special demands on the software used during development, mainly demands for ease of configuration, quick exchange of vehicles, and replaceable sensors." @default.
- W1510611671 created "2016-06-24" @default.
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- W1510611671 date "2005-01-01" @default.
- W1510611671 modified "2023-09-27" @default.
- W1510611671 title "A software infrastructure for sensors, actuators, and communication" @default.
- W1510611671 hasPublicationYear "2005" @default.
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