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The robot software communications architecture (RSCA): embedded middleware for networked service robots

10 years 29 days ago
The robot software communications architecture (RSCA): embedded middleware for networked service robots
In this paper, we present a robot middleware technology named Robot Software Communications Architecture (RSCA) for its use in networked home service robots. The RSCA provides a standard operating environment for the robot applications together with a framework that expedites the development of such applications. The operating environment is comprised of a real-time operating system, a communication middleware, and a deployment middleware. Particularly, the deployment middleware supports the reconfiguration of component-based robot applications including installation, creation, start, stop, tear-down, and un-installation. In designing RSCA, we have adopted a middleware called SCA from the software defined radio domain and extend it since the original SCA lacks the real-time guarantees and appropriate event services. We have fully implemented RSCA and performed measurements to quantify its run-time performance. Our implementation clearly shows the viability of RSCA.
Seongsoo Hong, Jaesoo Lee, Hyeonsang Eom, Gwangil
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IPPS
Authors Seongsoo Hong, Jaesoo Lee, Hyeonsang Eom, Gwangil Jeon
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