Open Access
A flexible framework for task-oriented programming of service robots
Daniel Westhoff Knoll,Hagen Stanek,Torsten Scherer,Jianwei Zhang,Alois +4 more
- 01 Jan 2004
TL;DR: A technology that establishes a framework for task-oriented programming of mobile robot systems that allows writing distributed control or monitoring programs for easy adoption of robots to specific tasks and hides all network details from the programmer.
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Abstract: In this paper we present a technology that establishes a framework for task-oriented programming of mobile robot systems. The framework allows writing distributed control or monitoring programs for easy adoption of robots to specific tasks. It enables the programmer to send programs referred to as Roblets® to a Roblet®-server running on the robot. Contrary to other distributed system frameworks these Roblets® consist of data and code. The Roblet®-server executes the Roblets® with well-defined behaviour, even in case of malfunctions. The framework hides all network details from the programmer, so that writing programs on a local computer is similar to working directly with the remote robot. This decreases the development time of programs controlling the robots. The framework is implemented in JavaTM and tested with two service robots.
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Citations
A mobile service robot for automisation of sample taking and sample management in a biotechnological pilot laboratory
Torsten Scherer
- 01 Jan 2004
TL;DR: Schlieslich et al. as discussed by the authors prasentiert ein neuer Serviceroboter, der aus einem auf einer mobilen Plattform montierten Roboterarm besteht and diese Lucke schliest.
24
Robust illumination-invariant features by quantitative bilateral symmetry detection
Daniel Westhoff,Jianwei Zhang,Kai Huebner +2 more
- 01 Jan 2005
TL;DR: A novel method for the determination of illumination-invariant features in images using dynamic programming and the feature vector is used to robustly track motion in an image sequence.
7
Towards intelligent autonomous vision systems - smart image processing for robotic applications -
Andreas Maeder,Hannes Bistry,Jianwei Zhang +2 more
- 01 Dec 2007
TL;DR: First experiments, using embedded processors as well as dedicated hardware, performing various image (pre)processing tasks for smart vision systems are presented.
6
A Unified Robotic Software Architecture for Service Robotics and Networks of Smart Sensors
Daniel Westhoff,Jianwei Zhang +1 more
- 01 Jan 2007
TL;DR: A novel architecture for the programming of multi-modal service robots and networked sensors based upon the Roblet-Technology, which greatly improves the programming and testing of applications in service robotics.
5
Grape – Graphical Robot Programming for Beginners
Stefan Enderle
- 22 May 2008
TL;DR: A graphical programming environment for the beginner, using procedural concepts together with given objects, to teach the structures of an object oriented programming language.
3
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Ken Goldberg,Roland Siegwart +1 more
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Paul Backes,K.S. Tso,G.K. Tharp +2 more
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A software framework based on real-time CORBA for telerobotic systems
S. Bottazzi,Stefano Caselli,Monica Reggiani,Michele Amoretti +3 more
- 10 Dec 2002
TL;DR: A software framework for distributed telerobotic systems exploiting advanced CORBA features, including Asynchronous Method Invocation and real-time priorities is described, and has been evaluated in a laboratory setup including a robot manipulator and two cameras accessible by multiple clients.
36
A service robot for automating the sample management in biotechnological cell cultivations
Torsten Scherer,Iris Poggendorf,Axel Schneider,Daniel Westhoff,Jianwei Zhang,Dirk Lütkemeyer,Jürgen Lehmann,Alois Knoll +7 more
- 03 Dec 2003
TL;DR: A mobile robot system that is capable of automating the sample management in a biotechnological laboratory and specified in simple scripts to allow quick and easy adaptations to other situations is presented.