Prime - A Service-oriented Framework with Minimal Communication Overheads

Sergey Zhigalov, Yuri Okulovsky

2014

Abstract

We present Prime, a framework for development of service-oriented control systems in robotics. Prime uses an original approach to services: the service is not a monolith, but is subdivided into three layers. This approach allows creating services’ internal logic without references to communication-related entities, and therefore almost without initial learning of Prime. In addition, Prime offers three methods of linking services together that are completely interchangeable and compatible. The first is a classic service-oriented solution; the second belongs more to functional programming, it combines the algorithms inside each service into one function, that is equivalent to the behavior of the service-oriented system. The third uses code emission technique to significantly increase the performance. The Prime adds little overheads and is much faster than, for example, Microsoft Robotics Studio.

Paper Citation

in Harvard Style

Zhigalov S. and Okulovsky Y. (2014). Prime - A Service-oriented Framework with Minimal Communication Overheads . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 169-175. DOI: 10.5220/0005017201690175

in Bibtex Style

@conference{icinco14,
author={Sergey Zhigalov and Yuri Okulovsky},
title={Prime - A Service-oriented Framework with Minimal Communication Overheads},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={169-175},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005017201690175},
isbn={978-989-758-039-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Prime - A Service-oriented Framework with Minimal Communication Overheads
SN - 978-989-758-039-0
AU - Zhigalov S.
AU - Okulovsky Y.
PY - 2014
SP - 169
EP - 175
DO - 10.5220/0005017201690175