A Taxonomy of Distribution for Cooperative Mobile Manipulators

Andreas Schierl, Andreas Angerer, Alwin Hoffmann, Michael Vistein, Wolfgang Reif

2015

Abstract

Simple robot applications can be run on a single computer, but when it comes to more complex applications or multiple mobile robots, software distribution becomes important. When structuring mobile robot systems and applications, distribution has to be considered on various levels. This paper proposes to distinguish between real-time level, system level, application level and regarding the world model. Advantages and disadvantages of distribution on each level are analyzed, and examples are given how this distribution is realized in the robotics frameworks OROCOS, ROS and the Robotics API. The results are demonstrated using a case study of two cooperating youBots handing over a work-piece while in motion, which is shown in simulation as well as in real life.

Paper Citation

in Harvard Style

Schierl A., Angerer A., Hoffmann A., Vistein M. and Reif W. (2015). A Taxonomy of Distribution for Cooperative Mobile Manipulators . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 74-83. DOI: 10.5220/0005541700740083

in Bibtex Style

@conference{icinco15,
author={Andreas Schierl and Andreas Angerer and Alwin Hoffmann and Michael Vistein and Wolfgang Reif},
title={A Taxonomy of Distribution for Cooperative Mobile Manipulators},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={74-83},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005541700740083},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Taxonomy of Distribution for Cooperative Mobile Manipulators
SN - 978-989-758-123-6
AU - Schierl A.
AU - Angerer A.
AU - Hoffmann A.
AU - Vistein M.
AU - Reif W.
PY - 2015
SP - 74
EP - 83
DO - 10.5220/0005541700740083