Simple concurrency for robotics with the Roboscoop framework

Concurrency is inherent to robots, and using concurrency in robotics can greatly enhance performance of the robotics applications. So far, however, the use of concurrency in robotics has been limited and cumbersome. This paper presents Roboscoop, a new robotics framework based on Simple Concurrent O...

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Vydané v:Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems s. 1563 - 1569
Hlavní autori: Rusakov, Andrey, Jiwon Shin, Meyer, Bertrand
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: IEEE 01.09.2014
Predmet:
Concurrent computing
Libraries
Middleware
Robot kinematics
Robot sensing systems
Synchronization
ISSN:2153-0858
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Shrnutí:Concurrency is inherent to robots, and using concurrency in robotics can greatly enhance performance of the robotics applications. So far, however, the use of concurrency in robotics has been limited and cumbersome. This paper presents Roboscoop, a new robotics framework based on Simple Concurrent Object Oriented Programming (SCOOP). SCOOP excludes data races by construction, thereby eliminating a major class of concurrent programming errors. Roboscoop utilizes SCOOP's concurrency and synchronization mechanisms for coordination in robotics applications. We demonstrate Roboscoop's simplicity by comparing Roboscoop to existing middlewares and evaluate Roboscoop's usability by employing it in education.
ISSN:2153-0858
DOI:10.1109/IROS.2014.6942763