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Exploiting the FAMOUSO middleware in multi-robot application development with Matlab/Simulink

Published: 01 December 2008 Publication History

Abstract

We describe a framework for the development of distributed systems combining real and virtual components, sensors and actuators. We show the benefits of our approach for the development and validation of multi robot applications. Based on our middleware, which provides a flexible communication for distributed systems, virtual and real components are seamlessly exchangeable during different development steps. This modularity and compatibility allows appropriate adjustments for design, rapid prototyping and examination as soon as an opportunity to reduce the hardware effort for large scenarios.

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AWDS project homepage. online, http://awds.berlios.de, 2008.
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M. Corporation. Microsoft robotics studio. online, http://msdn.microsoft.com/engb/library/bb881626.aspx.
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G. Dudek and R. Sim. Robodaemon - a device independent, network-oriented, modular mobile robot controller.
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J. Jackson. Microsoft robotics studio: A technical introduction. IEEE Robotics & Automation Magazine, 14:82--87, Dezember 2007.
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J. Kaiser and C. Brudna. A Publisher/Subscriber Architecture Supporting Interoperability of the CAN-Bus and the Internet. In 2002 IEEE International Workshop on Factory Communication Systems, Väesteras, Schweden, August 28--30 2002.
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J. Kaiser, C. Brudna, C. Mitidieri, and C. Pereira. COSMIC: A middleware for event-based interaction on CAN. In 9th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2003), Lisbon, Portugal, September 2003.
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J. Kaiser, M. Schulze, S. Zug, C. Cardeira, and F. Carreira. Sentient objects for designing and controlling service robots. In Proceedings of IFAC'08, volume 17th International Federation of Automatic Control World Congress, Seoul, Korea, July 6--11 2008.
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M. Schulze. FAMOUSO project website. online, http://famouso.sourceforge.net, 2008.
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M. Schulze and S. Zug. Using COSMIC -- A real world case study combining virtual and real sensors. In Proceedings of the 5th Minema Workshop on Middleware for Network Eccentric and Mobile Applications, Magdeburg, Germany, September 11--12 2007.
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Cited By

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  • (2013)Bridging Physical and Digital Traffic System Simulations with the Gulliver Test-BedCommunication Technologies for Vehicles10.1007/978-3-642-37974-1_14(169-184)Online publication date: 2013
  • (2012)R2P: an Open Source Modular Architecture for Rapid Prototyping of Robotics ApplicationsIFAC Proceedings Volumes10.3182/20120403-3-DE-3010.0005145:4(68-73)Online publication date: 2012
  • (2012)Towards artificial perceptionProceedings of the 2012 international conference on Computer Safety, Reliability, and Security10.1007/978-3-642-33675-1_44(466-476)Online publication date: 25-Sep-2012
  • Show More Cited By

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cover image ACM Other conferences
Companion '08: Proceedings of the ACM/IFIP/USENIX Middleware '08 Conference Companion
December 2008
134 pages
ISBN:9781605583693
DOI:10.1145/1462735
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 December 2008

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Author Tags

  1. development framework
  2. embedded devices
  3. middleware
  4. multi-robot
  5. publish/subscribe

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Cited By

View all
  • (2013)Bridging Physical and Digital Traffic System Simulations with the Gulliver Test-BedCommunication Technologies for Vehicles10.1007/978-3-642-37974-1_14(169-184)Online publication date: 2013
  • (2012)R2P: an Open Source Modular Architecture for Rapid Prototyping of Robotics ApplicationsIFAC Proceedings Volumes10.3182/20120403-3-DE-3010.0005145:4(68-73)Online publication date: 2012
  • (2012)Towards artificial perceptionProceedings of the 2012 international conference on Computer Safety, Reliability, and Security10.1007/978-3-642-33675-1_44(466-476)Online publication date: 25-Sep-2012
  • (2010)Visualization of robot's awareness and perceptionProceedings of the First International Workshop on Digital Engineering10.1145/1837154.1837160(38-44)Online publication date: 14-Jun-2010
  • (2010)Reliable fault-tolerant sensors for distributed systemsProceedings of the Fourth ACM International Conference on Distributed Event-Based Systems10.1145/1827418.1827441(105-106)Online publication date: 12-Jul-2010
  • (2010)Programming abstractions and middleware for building control systems as networks of smart sensors and actuators2010 IEEE 15th Conference on Emerging Technologies & Factory Automation (ETFA 2010)10.1109/ETFA.2010.5641341(1-8)Online publication date: Sep-2010
  • (2009)MLCCA — Multi-Level Composability Check Architecture for dependable communication over heterogeneous networks2009 IEEE Conference on Emerging Technologies & Factory Automation10.1109/ETFA.2009.5347096(1-8)Online publication date: Sep-2009

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