% This file was created with JabRef 2.5b.Skilligent, % Encoding: UTF-8 \begin{thebibliography}{9} @ARTICLE{Gerkey01sold!:auction, author = {Brian P. Gerkey and Maja J Mataric}, title = {Sold!: Auction methods for multi-robot coordination}, journal = {IEEE Transactions on Robotics and Automation, Special Issue on Multi-robot Systems}, YEAR = {2001} } @ARTICLE {JARS2006, title = {Communication Patterns as Key Towards Component-Based Robotics Task}, author = {Schlegel, Christian}, editor = {Brugali, Davide and Nesnas, Issa A. }, journal = {International Journal of Advanced Robotic Systems}, year = {2006}, month = {March}, volume = {3}, number = {1}, pages = {49--54}, issn = {1729-8806}, url = {http://www.ars-journal.com/International-Journal-of-Advanced-Robotic-Systems/Volume-3/049-054.pdf}, keywords = {software engineering, component approach, software reuse, communication pattern, robotics}, abstract = {Vital functions of mobile robots are provided by software and software dominance is still growing. Mastering the software complexity is not only a demanding but also indispensable task towards an operational robot. Nevertheless, well-known and even always needed algorithms are often implemented from scratch over and over again instead of being reused as off-the-shelf components. A major reason is the lack of a framework that allows to compose robotics software out of standardized components without already prescribing a robotics architecture. Whereas Component Based Software Engineering (CBSE) is an approach to make a shift from implementation to composition, the general CBSE approach does not give any hints on how to ensure that independently provided components finally fit together as reusable components. This paper introduces a small set of communication patterns as basis for all intercomponent interactions. Since all externally visible interfaces of components are composed out of the same set of communication patterns, these are the key towards a stringent interface semantics. Generic communication patterns enforce decoupling of components and ensure composability by restricting the diversity of interfaces. The SmartSoft framework as one implementation of this approach already roved its adequacy in many projects.}, } @inproceedings{Common_Middleware , abstract = {Despite many decades of work in robotics, we are still lacking a well-accepted common software architecture, middleware, and shared low-level functionality. Most research groups still write their own systems, and any software developed by these groups tends to be strongly tied to their architecture, their middleware, and their robots. This make the sharing of software and, by extension, well-implemented algorithms, extremely difficult, if not impossible. This lack of sharing is seriously impeding robotics research, as we spend our time re-implementing known algorithms and techniques, rather than discovering new ones. In this paper, we outline some of the key problems that stand in the way of developing a widely-accepted set of middleware for robotics. We discuss why the development of this middleware is vital to the long-term success of our field, and offer some suggestions on how to get started.}, author = {Smart, William D.}, booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'07) Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware}, citeulike-article-id = {4128815}, citeulike-linkout-0 = {http://www.cse.wustl.edu/~wds/content/papers/2007/iros-ws2007.pdf}, editor = {Prassler, Erwin and Nilsson, Klas and Shakhimardanov, Azamat}, keywords = {master\_thesis, robot\_middleware, software}, location = {San Diego, CA}, month = {November}, posted-at = {2009-03-03 16:50:26}, priority = {0}, title = {Is a Common Middleware for Robotics Possible?}, url = {http://www.cse.wustl.edu/~wds/content/papers/2007/iros-ws2007.pdf}, year = {2007} } @article{ ORCCAD1997, author = {Simon, D. and Espiau, B. and Kapellos, K. and Pissard-Gibollet, R.}, title = {ORCCAD: software engineering for real-time robotics. A technical insight}, journal = {Robotica}, volume = {15}, number = {1}, YEAR = {1997}, issn = {0263-5747}, pages = {111--115}, doi = {http://dx.doi.org/10.1017/S0263574797000131}, publisher = {Cambridge University Press}, address = {New York, NY, USA}, } @INPROCEEDINGS{ IRSP06, author={Jun-young Kwak and Ji Young Yoon and Shinn, R.H.}, booktitle={Engineering of Intelligent Systems, 2006 IEEE International Conference}, title={An Intelligent Robot Architecture based on Robot Mark-up Languages}, YEAR={2006}, month={0-0 }, volume={}, number={}, pages={1 -6}, keywords={component-based architecture;intelligent robot architecture;intelligent robotic system;multiagent system;robot mark-up languages;robot middleware;service-oriented architecture;software platform;standard XML technology;XML;intelligent robots;object-oriented programming;software architecture;}, doi={10.1109/ICEIS.2006.1703203}, ISSN={},} @INPROCEEDINGS{babel06, author={Fernandez-Madrigal, J.A. and Galindo, C. and Gonzalez, J.}, booktitle={Electrotechnical Conference, 2006. MELECON 2006. IEEE Mediterranean}, title={Integrating heterogeneous robotic software}, YEAR={2006}, month={July}, volume={}, number={}, pages={433 -436}, keywords={Aracne specification;BABEL development system;C programming language;C++ programming language;CORBA;JAVA programming language;MS-Windows;RT-operating systems;TCP-IP connections;communication middleware;heterogeneous programming languages;heterogeneous robotic software;robotic application lifecycle;software development;C++ language;Java;distributed object management;middleware;operating systems (computers);robot programming;software engineering;transport protocols;}, doi={10.1109/MELCON.2006.1653131}, ISSN={},} @article{ OPRoS09, author = {Choulsoo Jang and Byoungyoul Song and Seungwoog Jung and Sunghoon Kim and Byeongcheol Choi and Hyo-Young Lee and Cheol-Hoon Lee}, title = {A Development of Software Component Framework for Robotic Services}, journal ={Convergence Information Technology, International Conference on}, volume = {0}, isbn = {978-0-7695-3896-9}, YEAR = {2009}, pages = {1-6}, doi = {http://doi.ieeecomputersociety.org/10.1109/ICCIT.2009.161}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } @INPROCEEDINGS{opros08, author={Byoungyoul Song and Seungwoog Jung and Choulsoo Jang and Sunghoon Kim}, booktitle={Int. Conf. Simulation, Modeling Programming for Autonomous Robots Workshop 2008}, title={An Introduction to Robot Component Model for OPRoS(Open Platform for Robotic Services)}, YEAR={2008}, month={November}, volume={}, number={}, pages={592-603}, keywords={Web service;dynamic distributed computing;intelligent appliances;pervasive peer-to-peer network connectivity;robot middleware;service oriented architecture;universal plug and play;Web services;control engineering computing;domestic appliances;intelligent robots;middleware;peer-to-peer computing;software architecture;ubiquitous computing;}, doi={10.1109/IROS.2006.282262}, ISBN={978-88-95872-01-8},} @article{ OPRoS10, author = {Choulsoo Jang and Seung-Ik Lee and Seung-Woog Jung and Byoungyoul Song and Rockwon Kim and Sunghoon Kim and Cheol-Hoon Lee}, title = {OPRoS: A New Component-Based Robot Software Platform}, journal ={ETRI Journal}, volume = {32}, YEAR = {2010}, pages = {646-656},month = {Oct.} doi = {10.4218/etrij.10.1510.0138}, } @MISC{Honda, author = {Victor Ng-thow-hing and Thor List and Kristinn R. Thórisson and Jongwoo Lim and Joel Wormer}, title = {Design and Evaluation of Communication Middleware in a Distributed Humanoid Robot Architecture}, YEAR = {2007} booktitle={IROS '07 Workshop Measures and Procedures for the Evaluation of Robot Architectures and Middleware} } @phdthesis{phbaer2008, author = {Philipp A. Baer}, interhash = {645b136db4c5c071b09aaf54af48cc98}, intrahash = {6c5ce1d46726f4476a3882c06dc8c09e}, school = {University of Kassel, Germany}, title = {Platform-Independent Development of Robot Communication Software}, url = {http://www.upress.uni-kassel.de/publi/abstract.php?978-3-89958-644-2}, YEAR = 2008, keywords = {phbaer-diss phbaer-pub phbaer-spica-pub YEAR:2008}, added-at = {2009-03-11T16:37:07.000+0100}, biburl = {http://www.bibsonomy.org/bibtex/26c5ce1d46726f4476a3882c06dc8c09e/phbaer}, month = dec } @INPROCEEDINGS{UPNP1, author={Sang Chul Ahn and Jung-Woo Lee and Ki-Woong Lim and Heedong Ko and Yong-Moo Kwon and Hyoung-Gon Kim}, booktitle={Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on}, title={Requirements to UPnP for Robot Middleware}, YEAR={2006}, month={9-15}, volume={}, number={}, pages={4716 -4721}, keywords={Web service;dynamic distributed computing;intelligent appliances;pervasive peer-to-peer network connectivity;robot middleware;service oriented architecture;universal plug and play;Web services;control engineering computing;domestic appliances;intelligent robots;middleware;peer-to-peer computing;software architecture;ubiquitous computing;}, doi={10.1109/IROS.2006.282262}, ISSN={},} @INPROCEEDINGS{UPNP3, author={ Sang Chul Ahn and Jin Hak Kim and Kiwoong Lim and Heedong Ko and Yong-Moo Kwon and Hyoung-Gon Kim}, booktitle={Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on}, title={UPnP Approach for Robot Middleware}, year={2005}, month=april, volume={}, number={}, pages={ 1959 - 1963}, keywords={ CORBA; Middleware ; Robot ; TAO ; UPnP ;}, doi={10.1109/ROBOT.2005.1570400}, ISSN={},} @INPROCEEDINGS{UPNP2006, author={Sang Chul Ahn and Ki-Woong Lim and Jung-Woo Lee and Heedong Ko and Yong-Moo Kwon and Hyoung-Gon Kim}, booktitle={The 3rd International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2006)}, title={UPnP Robot Middleware for Ubiquitous Robot Control}, YEAR={2006}, } @INPROCEEDINGS{UPNP2, author={Sang Chul Ahn and Jung-Woo Lee and Ki-Woong Lim and Heedong Ko and Yong-Moo Kwon and Hyoung-Gon Kim}, booktitle={SICE-ICASE, 2006. International Joint Conference}, title={UPnP SDK for Robot Development}, YEAR={2006}, month={18-21}, volume={}, number={}, pages={363 -368}, keywords={Web service;distributed computing;pervasive peer-to-peer network;robot middleware;service oriented architecture;software component;Web services;middleware;object-oriented programming;peer-to-peer computing;robots;software architecture;ubiquitous computing;}, doi={10.1109/SICE.2006.315791}, ISSN={},} @article{WURDE, author = {Frederick Heckel and Tim Blakely and Michael Dixon and Chris Wilson and William D. Smart}, title = {The WURDE Robotics Middleware and RIDE Multi-Robot Tele-Operation Interface}, YEAR = {2006} journal ={AAAI Mobile Robotics Workshop, 2006} } @MISC{Humanoid, author = {Victor Ng-thow-hing and Thor List and Kristinn R. Thórisson and Jongwoo Lim and Joel Wormer}, title = {Design and Evaluation of Communication Middleware in a Distributed Humanoid Robot Architecture}, YEAR = {2007} journal ={IROS '07 Workshop Measures and Procedures for the Evaluation of Robot Architectures and Middleware} } @ARTICLE{ASEBA2010, author={Magnenat, S. and Retornaz, P. and Bonani, M. and Longchamp, V. and Mondada, F.}, journal={Mechatronics, IEEE/ASME Transactions on}, title={ASEBA: A Modular Architecture for Event-Based Control of Complex Robots}, YEAR={2010}, month={ }, volume={PP}, number={99}, pages={1 -9}, keywords={}, doi={10.1109/TMECH.2010.2042722}, ISSN={1083-4435},} @ARTICLE{ASEBA2007, author = {Stéphane Magnenat and Valentin Longchamp and Francesco Mondada}, title = {ASEBA, an event-based middleware for distributed robot control}, YEAR = {2007} journal={Workshops DVD of International Conference on Intelligent Robots and Systems (IROS)} } @INPROCEEDINGS{RSCA , author={Jonghun Yoo and Saehwa Kim and Seongsoo Hong}, booktitle={SICE-ICASE, 2006. International Joint Conference}, title={The Robot Software Communications Architecture (RSCA): QoS-Aware Middleware for Networked Service Robots}, YEAR={2006}, month={18-21}, volume={}, number={}, pages={330 -335}, keywords={QoS-aware middleware;distributed mechatronics system;network service robot;real-time operating system;robot software communication architecture;home automation;mechatronics;middleware;quality of service;service robots;}, doi={10.1109/SICE.2006.315702}, ISSN={},} @TECHREPORT{BABEL03, author = {Fern{\'a}ndez-Madrigal, Juan-Antonio}, month = {July}, title = {The BABEL Development System for Integrating Heterogeneous Robotic Software}, YEAR = {2003}, institution = {System Engineering and Automation Dpt. - University of M{\'a}laga (Spain)} } @InProceedings{CAR06, Author = {Simon, D. and Pissard-Gibollet, R. and Arias, S.}, Title = {{Orccad}, a framework for safe robot control design and implementation}, BookTitle = {1st National Workshop on Control Architectures of Robots: software approaches and issues CAR'06}, Address = {Montpellier}, Month = {}, YEAR = {2006} } @InProceedings{CAR10, Author = {Simon, D. and Pissard-Gibollet, R., Boudin,F. and Arias, S.}, Title = {{Orccad}, robot controller model and its support using Eclipse Modeling tools}, BookTitle = {5th National Conference on "Control Architecture of Robots"(2010) CAR'10}, Month = {}, YEAR = {2010} } @INPROCEEDINGS{RoboFrame07, author = {S. Petters and D. Thomas and O. von Stryk}, title = {RoboFrame - A Modular Software Framework for Lightweight Autonomous Robots}, YEAR = {2007}, month = {Oct. 29}, address = {San Diego, CA, USA}, booktitle = {Proc. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, } @article{ KMIDDLEWARE06, author = {null Dong-Hee Choi and null Seong-Hoon Kim and null Kwang-Koog Lee and null Bum-Hyun Beak and null Hong-Seong Park}, title = {Middleware architecture for module-based robot}, journal ={SICE-ICASE International Joint Conference}, volume = {0}, isbn = {89-950038-4-7}, YEAR = {2006}, pages = {4202-4205}, doi = {http://doi.ieeecomputersociety.org/10.1109/SICE.2006.314770}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } @TECHREPORT{P92modellingsonar, author = {Mj P and Gregory Dudek and Gregory Dudek and Michael Jenkin and Michael Jenkin and Evangelos Milios and Evangelos Milios and David Wilkes and David Wilkes}, title = {Modelling sonar range sensors}, institution = {in Advances in Machine Vision: Strategies and Applications}, YEAR = {1992} } @INPROCEEDINGS{URBI, author={Baillie, J.-C.}, booktitle={Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on}, title={URBI: towards a universal robotic low-level programming language}, YEAR={2005}, month={2-6}, volume={}, number={}, pages={ 820 - 825}, keywords={ ERS7 Aibo robot; TCP/IP; URBI; client-server architecture; control architecture; control programming; human-robot interfaces; pattern generation; remote control; robot control; software interface; universal robotic body interface; universal robotic low-level programming language; client-server systems; control engineering computing; human computer interaction; machine oriented languages; public domain software; robot programming; telerobotics; user interfaces;}, doi={10.1109/IROS.2005.1545467}, ISSN={},} @ARTICLE{URBI2004, AUTHOR = {Baillie}, TITLE = {URBI: A Universal Language for Robotic Control}, JOURNAL = {International journal of Humanoid Robotics}, YEAR = {2004}, PDF = {http://cogrob.ensta.fr/papers/humanoid2004-baillie.pdf}, BIB = {./publis_bib.html#baillie_humanoids04} } @INPROCEEDINGS{RoboFrame06, author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk }, title = {Reusable architecture and tools for teams of lightweight heterogeneous robots}, YEAR = {2006}, pages = {51-56}, month = {October 2-3}, address = {Salvador, Brazil}, booktitle = {Proc. 1st IFAC Workshop on Multivehicle Systems 2006}, } @inproceedings{RIK, author = {David J. Bruemmer and Douglas A. Few and Miles C. Walton and Curtis W. Nielsen}, title = {The Robot Intelligence Kernel}, booktitle = {AAAI}, YEAR = {2006}, crossref = {DBLP:conf/aaai/2006}, bibsource = {DBLP, http://dblp.uni-trier.de} } @INPROCEEDINGS{RoboFrame06_2, author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk}, title = {Modular software architecture for teams of cooperating, heterogeneous robots}, YEAR = {2006}, pages = {613-618}, month = {December 17-20}, address = {Kunming, China}, booktitle = {Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO) 2006}, } @inproceedings{gerkey03playerstage, address = {Coimbra, Portugal}, author = {B. Gerkey and R. Vaughan and A. Howard}, booktitle = {11th International Conference on Advanced Robotics (ICAR 2003)}, interhash = {bb35c7c38157f08225b4cdf8f533db76}, intrahash = {b80808d019594f538b3d23d376cb7f16}, title = {The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems}, url = {citeseer.ist.psu.edu/gerkey03playerstage.html}, YEAR = 2003, text = {B. Gerkey, R.T. Vaughan, and A. Howard, The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems, 11 th Int. Conf. on Advanced Robotics (ICAR 2003), Coimbra, Portugal, 30 June -- 3 July, 2003.}, keywords = {architecture control middleware player robotic stage}, biburl = {http://www.bibsonomy.org/bibtex/2b80808d019594f538b3d23d376cb7f16/phbaer}, month = jun } @inproceedings { GerkeyVaughan01a, title = {Most Valuable Player: A Robot Device Server for Distributed Control}, booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)2001}, YEAR = {2001}, month = {oct}, pages = {1226{\textendash}1231}, address = {Wailea, Hawaii}, author = {Brian P. Gerkey and Richard T. Vaughan and Kasper St{\o}y and Andrew Howard and Gaurav S Sukhatme and Maja J Matari{\'c}} } @inproceedings{ VaughanGerkeyHoward03a, title = {On device abstractions for portable, reusable robot code}, booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)2003}, YEAR = {2003}, pages = {2121{\textendash}2427}, address = {Las Vegas, Nevada}, author = {Richard T. Vaughan and Brian P. Gerkey and Andrew Howard} } @inproceedings{ Collett05, title = {Player 2.0: Toward a Practical Robot Programming Framework}, booktitle = {Proc. of the Australasian Conf. on Robotics and Automation (ACRA) 2005}, YEAR = {2005}, address = {Sydney, Australia}, author = {Toby H.J. Collett and Bruce A. MacDonald and Brian P. Gerkey} } @INPROCEEDINGS{Gerkey04are(explicit), author = {Brian P. Gerkey and Maja J Mataric}, title = {Are (explicit) multi-robot coordination and multi-agent coordination really so different}, booktitle = {In Proceedings of the AAAI Spring Symposium on Bridging the Multi-Agent and Multi-Robotic Research Gap 2004}, YEAR = {2004}, pages = {1--3} } @inproceedings{PlayerStage2006UbiSys, author = {Matthias Kranz and Radu Bogdan Rusu and Alexis Maldonado and Michael Beetz and Albrecht Schmidt}, booktitle = {Proceedings of UbiSys'06, System Support for Ubiquitous Computing Workshop, at the 8th Annual Conference on Ubiquitous Computing (Ubicomp 2006), Orange County California, September 17-21, 2006}, interhash = {caf31c87a1b55b8ef9ee4dbde6bd4e2a}, intrahash = {5edda5de0da01f379f1026702334dae9}, title = {A Player/Stage System for Context-Aware Intelligent Environments}, YEAR = 2006, timestamp = {2010.01.13}, keywords = {imported}, owner = {Matthias Kranz}, biburl = {http://www.bibsonomy.org/bibtex/25edda5de0da01f379f1026702334dae9/matthias.kranz} } @inproceedings{Orca2006, author = {Alexei Makarenko, Alex Brooks, Tobias Kaupp}, booktitle = {Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) Workshop on Robotic Standardization, Beijing, China, 11 Oct. - 13 Oct. 2006}, title = {Orca: Components for Robotics}, YEAR = 2006 } @misc{ICE, author = {Michi Henning, Mark Spruiell}, title = {Distributed Programming with Ice}, month = {February}, year = {2010}, howpublished = "Website", note = {\url{http://www.zeroc.com/doc/Ice-3.4.0/manual/}} } @misc{RIKWebsite, title = {Robot Intelligence Kernel}, year = {2010}, howpublished = "Website", note = {\url{https://inlportal.inl.gov/portal/server.pt/community/robot_intelligence_kernel/457}} } @misc{irobotware, title = {Aware 2 Robot Intelligient Software}, year = {2010}, howpublished = "Website", note = {\url{http://www.irobot.com/gi/developers/Aware/}} } @misc{MassionLabManual, author = {Georgia Tech Mobile Robot Laboratory}, title = {User Manual for MissionLab version 7.0}, month = {July}, year = {2006}, note = {\url{http://www.cc.gatech.edu/aimosaic/robot-lab/research/MissionLab/mlab_manual-7.0.pdf}} } @misc{CarmenWebsite, title = {CARMEN, the Carnegie Mellon Robot Navigation Toolkit}, year = {2008}, howpublished = "Website", note = {\url{http://carmen.sourceforge.net/}} } @misc{ROSWebsite, title = {Robot Operating System (ROS)}, year = {2011}, howpublished = "Website", note = {\url{http://www.ros.org}} } @misc{SSDP, author = {Yaron Y. Goland, Ting Cai, Paul Leach, Ye Gu}, title = {Simple Service Discovery Protocol//1.0 Operating without an Arbiter}, howpublished = "Website", YEAR = { 1999}, month = {October }, note = {\url{http://purl.org/spica/ssdp}} } @inproceedings{Orca2005, author = {Alex Brooks, Tobias Kaupp, Alexei Makarenko , Stefan Williams, Anders Oreback}, booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05), Edmonton, Canada, 02 Aug. - 06 Aug. 2005}, title = {Towards Component-Based Robotics}, YEAR = 2005 } @inproceedings{Orca2007, author = {Alexei Makarenko, Alex Brooks, and Tobias Kaupp}, booktitle = {POn the Benefits of Making Robotic Software Frameworks Thin IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), San Diego CA, USA, 29 Oct. - 02 Nov. 2007}, title = {On the Benefits of Making Robotic Software Frameworks Thin}, YEAR = 2007 } @ARTICLE{Miro2002, author={Utz, H. and Sablatnog, S. and Enderle, S. and Kraetzschmar, G.}, journal={Robotics and Automation, IEEE Transactions on}, title={Miro - middleware for mobile robot applications}, YEAR={2002}, month={aug}, volume={18}, number={4}, pages={ 493 - 497}, keywords={ CORBA; Miro; communications protocols; enterprise information processing systems; error-prone task; generic abstract services; mobile robot; object-oriented robot middleware; operating systems; programming languages; software design; software maintainability; software portability; software technology; vendor-provided programming environments; distributed object management; middleware; mobile robots; object-oriented programming; protocols; robot programming; software maintenance; software portability;}, doi={10.1109/TRA.2002.802930}, ISSN={1042-296X},} @inproceedings{Miro2002RoboCup, author = {Kraetzschmar, Gerhard K. and Utz, Hans and Sablatn\"{o}g, Stefan and Enderle, Stefan and Palm, G\"{u}nther}, title = {Miro - Middleware for Cooperative Robotics}, booktitle = {RoboCup 2001: Robot Soccer World Cup V}, YEAR = {2002}, isbn = {3-540-43912-9}, pages = {411--416}, publisher = {Springer-Verlag}, address = {London, UK}, } @inproceedings{Miro2001, abstract = {{Abstract: Implementing software for autonomous mobile robots is a non-trivial task, because such robots incorporate several sensor systems and actuators that must be controlled simultaneously by a heterogeneous ensemble of networked computers and microcontrollers. Additionally, the use of modern software engineering technologies like object-oriented and distributed programming and client/server architectures is essential in order to maintain program code effectively. In this paper, we present Miro, a new CORBA-based robot programming framework which allows a rapid development of reliable and safe software on heterogeneous computer networks and supports the mixed use of several programming languages. Copyright c2001 IFAC}}, author = {Enderle, Stefan and Utz, Hans and Sablatn\"{o}g, Stefan and Simon, Steffen and Kraetzschmar, Gerhard and Palm, G\"{u}nther}, booktitle = {In Telematics Applications in Automation and Robotics 2001}, citeulike-article-id = {4123313}, citeulike-linkout-0 = {http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.58.9035}, keywords = {master\_thesis, robot\_middleware, software}, posted-at = {2009-03-03 13:11:26}, priority = {0}, title = {{Miro: Middleware for autonomous mobile robots}}, url = {http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.58.9035}, year = {2001} } @inproceedings{Miro2006, author = {D. Krüger, I. Lil, N. Sünderhauf, R. Baumgartl, P. Protzel}, title = {Using and Extending the Miro Middleware for Autonomous Robots}, booktitle = {Towards Autonomous Robotic Systems (TAROS), Guildford, September 2006.}, YEAR = {2006}, } @MISC{Schmidt98anarchitectural, author = {Douglas C. Schmidt}, title = {An Architectural Overview of the ACE Framework. USENIX login magazine}, YEAR = {1998} } @inproceedings{OpenRDK2008, author = {Daniele Calisi and Andrea Censi and Luca Iocchi and Daniele Nardi}, title = {OpenRDK: A modular framework for robotic software development}, booktitle = {International Conference on Intelligent Robots and Systems (IROS) 2008}, YEAR = {2008}, month={September}, address = {Nice, France}, pages = {1872--1877}, } @inproceedings{OpenRDK2008_2, author = {Daniele Calisi and Andrea Censi and Luca Iocchi and Daniele Nardi}, title = {OpenRDK: A modular framework for robotic software development}, booktitle = {International Workshop on System and Concurrent Engineering for Space Applications (SECESA) 2008}, YEAR = {2008}, month={November}, } @inproceedings{OpenRDK2009, author = {Daniele Calisi and Andrea Censi }, title = {Robotic software development and interoperability using the OpenRDK framework.}, booktitle = {ICAR'09 Workshop on "Rapid Application Development in Robotics: On the role of re-use and adaptation of system components, middleware, and control architectures"}, YEAR = {2009}, month={June}, address = {Munich, Germany}, } @article{Marie2004, author = {Carle Côté and Dominic Létourneau and François Michaud}, title = {Code reusability tools for programming mobile robots}, journal = {In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems}, YEAR = {2004}, pages = {1820--1825} } @article{Marie2005, author = {Éric Beaudry and Yannick Brosseau and Carle Côté and Clément Raïevsky and Dominic Létourneau and Froduald Kabanza and François Michaud and Université De Sherbrooke}, title = {Reactive planning in a motivated behavioral architecture}, journal = {In Proc. AAAI Conf}, YEAR = {2005}, pages = {1242--1247} } @article{Marie2006, author = {C. C\^{o}t\'{e} and Y. Brosseau and D. L\'{e}tourneau and C. Ra\"{i}evsky and F. Michaud}, title = {Robotic software integration using MARIE}, journal = {International Journal of Advanced Robotic Systems}, YEAR = {2006}, volume = {3}, number = {1}, pages = {55-60}, month = {March}, url = {http://marie.sourceforge.net/} } @ARTICLE{MARIE2007, author={Côté, C., Létourneau, D., Rai'evsky, C., Brosseau, Y. and Michaud, F.}, journal={Software Engineering for Experimental Robotics Book Series Springer Tracts in Advanced Robotics Publisher Springer Berlin / Heidelberg}, title = {Using MARIE for Mobile Robot Component Development and Integration}, YEAR={2007}, month={April}, volume={30/2007}, pages={ 211-230}, doi={10.1007/978-3-540-68951-5_12}, ISSN={1610-7438 (Print) 1610-742X (Online)},} @INPROCEEDINGS{smartsoft_Eurobot, author={Schlegel, C. and Worz, R.}, booktitle={Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on}, title={Interfacing different layers of a multilayer architecture for sensorimotor systems using the object-oriented framework SMARTSOFT}, YEAR={1999}, month={}, volume={}, number={}, pages={195 -202}, keywords={B21 demonstrator;SFB 527;SMARTSOFT;advanced basic skills;advanced mobile robots;competing tasks;dynamic environments;interruptable execution;multilayer architecture;object oriented framework;robot control architecture;sensorimotor systems;supporting software framework;distributed object management;intelligent control;mobile robots;object-oriented databases;object-oriented programming;robot programming;}, doi={10.1109/EURBOT.1999.827640}, ISSN={},} @INPROCEEDINGS{smartsoft_IROS, author={Schlegel, C. and Worz, R.}, booktitle={Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on}, title={The software framework SMARTSOFT for implementing sensorimotor systems}, YEAR={1999}, month={}, volume={3}, number={}, pages={1610 -1616 vol.3}, keywords={ SMARTSOFT; external behavior; multilayer system architecture; sensorimotor systems; software components; software framework; application program interfaces; client-server systems; mobile robots; object-oriented methods; path planning; software architecture;}, doi={10.1109/IROS.1999.811709}, ISSN={},} @INPROCEEDINGS{smartsoft2009, author={Schlegel, C. and Hassler, T. and Lotz, A. and Steck, A.}, booktitle={Advanced Robotics, 2009. ICAR 2009. International Conference on}, title={Robotic software systems: From code-driven to model-driven designs}, YEAR={2009}, month={22-26}, volume={}, number={}, pages={1 -8}, keywords={code-driven systems;industrial-strength service robotic systems;model-driven designs;robotic software systems;control engineering computing;robot programming;software engineering;}, doi={}, ISSN={},} @Misc{ orocos-url, author = {Soetens, P.}, title = {{RTT}: {R}eal-{T}ime {T}oolkit}, howpublished = {http://www.orocos.org/rtt}, YEAR = {2010}, } @INPROCEEDINGS{Orocosproject, author={Bruyninckx, H. and Soetens, P. and Koninckx, B.}, booktitle={Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on}, title={The real-time motion control core of the Orocos project}, year={2003}, month=sept., volume={2}, number={}, pages={ 2766 - 2771 vol.2}, keywords={ control system structure; customization; open robot control software project; plug-in facilities; real-time motion control core; software framework; intelligent control; motion control; object-oriented programming; real-time systems; robot programming; software architecture;}, doi={10.1109/ROBOT.2003.1242011}, ISSN={1050-4729 },} @ARTICLE{Michel04cyberboticsltd, author = {Olivier Michel}, title = {Cyberbotics Ltd. Webots TM : Professional Mobile Robot Simulation}, journal = {Int. Journal of Advanced Robotic Systems}, year = {2004}, volume = {1}, pages = {39--42} } @Misc{ openjaus, title = {Openjaus}, howpublished = {http://www.openjaus.com/}, YEAR = {2010}, } @book{Microsoft_Robotics, author = {Johns, Kyle and Taylor, Trevor}, title = {Professional Microsoft Robotics Developer Studio}, YEAR = {2008}, isbn = {0470141077, 9780470141076}, publisher = {Wrox Press Ltd.}, address = {Birmingham, UK, UK}, } @book{Microsoft_Robotics2, author = {Morgan, Sara}, title = {Programming microsoft$^{\textregistered}$ robotics studio}, YEAR = {2008}, isbn = {9780735624320}, publisher = {Microsoft Press}, address = {Redmond, WA, USA}, } @MISC{Webots, AUTHOR = {Webots}, YEAR = {2009}, howpublished = {http://www.cyberbotics.com} NOTE = {Commercial Mobile Robot Simulation Software}, } @ARTICLE{Webots04, AUTHOR = {Michel, O.}, TITLE = {Webots: Professional Mobile Robot Simulation}, JOURNAL = {Journal of Advanced Robotics Systems}, YEAR = {2004}, VOLUME = {1}, NUMBER = {1}, PAGES = {39--42}, URL = {http://www.ars-journal.com/International-Journal-of-Advanced-Robotic-Systems/Volume-1/39-42.pdf} } @TECHREPORT{Volpe00claraty:coupled, author = {Richard Volpe and Issa A. D. Nesnas and Tara Estlin and Darren Mutz and Richard Petras and Hari Das}, title = {CLARAty: Coupled Layer Architecture for Robotic Autonomy}, institution = {NASA - JET PROPULSION LABORATORY}, YEAR = {2000} } @INPROCEEDINGS{Estlin01decision-makingin, author = {Tara Estlin and Rich Volpe and Issa Nesnas and Darren Mutz and Forest Fisher and Barbara Engelhardt and Steve Chien}, title = {Decision-Making in a Robotic Architecture for Autonomy}, booktitle = {In Proceedings of the International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS) 2001}, YEAR = {2001}, pages = {92152--7383} } @article{YARP, author = {Fitzpatrick, Paul and Metta, Giorgio and Natale, Lorenzo}, title = {Towards long-lived robot genes}, journal = {Robot. Auton. Syst.}, volume = {56}, number = {1}, YEAR = {2008}, issn = {0921-8890}, pages = {29--45}, doi = {http://dx.doi.org/10.1016/j.robot.2007.09.014}, publisher = {North-Holland Publishing Co.}, address = {Amsterdam, The Netherlands, The Netherlands}, } @inproceedings { ROS, title = {ROS: an open-source Robot Operating System}, booktitle = {ICRA Workshop on Open Source Software 2009}, YEAR = {2009}, author = {Morgan Quigley and Ken Conley and Brian Gerkey and Josh Faust and Tully Foote and Jeremy Leibs and Rob Wheeler and Andrew Y. Ng} } @ARTICLE{Missionlab2004, author = {Yoichiro Endo and Douglas MacKenzie and Ronald Arkin}, title = {Usability Evaluation of High-Level User Assistance for Robot Mission Specification}, journal = {IEEE Transactions on Systems, Man, and Cybernetics}, YEAR = {2004}, volume = {34}, pages = {168--180} } @MISC{ Missionlab1998, author = {Douglas C. Mackenzie and Ronald C. Arkin}, title = {Evaluating the Usability of Robot Programming Toolsets}, YEAR = {1998} } @MISC{ Missionlab1997, author = {Douglas C. Mackenzie and Ronald C. Arkin and Jonathan M. Cameron}, title = {Multiagent Mission Specification and Execution}, YEAR = {1997} } @incollection{Bakken, AUTHOR = {David Bakken}, TITLE = {Middleware}, BOOKTITLE = {Encyclopedia of Distributed Computing}, EDITOR = {J. Urban and P. Dasgupta}, PUBLISHER = {Kluwer}, YEAR = {2001}, NOTE = {to appear} } @article{Kramer, address = {Hingham, MA, USA}, author = {Kramer, James and Scheutz, Matthias}, citeulike-article-id = {3416580}, citeulike-linkout-0 = {http://portal.acm.org/citation.cfm?id=1231373}, citeulike-linkout-1 = {http://dx.doi.org/10.1007/s10514-006-9013-8}, doi = {10.1007/s10514-006-9013-8}, issn = {0929-5593}, journal = {Auton. Robots}, keywords = {for\_h09, framework, robotics, software\_engineering, survey}, number = {2}, pages = {101--132}, posted-at = {2009-06-14 18:46:35}, priority = {2}, publisher = {Kluwer Academic Publishers}, title = {Development environments for autonomous mobile robots: A survey}, url = {http://dx.doi.org/10.1007/s10514-006-9013-8}, volume = {22}, YEAR = {2007} } @INPROCEEDINGS{Nader2008, author={Mohamed, Nader and Al-Jaroodi, Jameela and Jawhar, Imad}, journal={Robotics, Automation and Mechatronics, 2008 IEEE Conference on}, title={Middleware for Robotics: A Survey}, YEAR={2008}, month={sep.}, volume={}, number={}, pages={736 -742}, keywords={computing systems;distributed system;mechatronics;middleware services;networked robotic devices;robotics;wireless communication;control engineering computing;middleware;robot programming;}, doi={10.1109/RAMECH.2008.4681485}, ISSN={},} @INPROCEEDINGS{Nader2009, author={Mohamed, Nader and Al-Jaroodi, Jameela and Jawhar, Imad}, journal={International Journal of Computer Science and Network Security}, title={A Review of Middleware for Networked Robots}, YEAR={2009}, month={May}, volume={9}, number={5}, ISSN={},} @InProceedings{bruyninckx-icra2003, author = {Bruyninckx, Herman and Soetens, Peter and Koninckx, Bob}, title = {The Real-Time Motion Control Core of the {O}rocos Project}, booktitle = {IEEE International Conference on Robotics and Automation 2003}, pages = {2766--2771}, year = {2003} } @InProceedings{SoetensBruyninckx-icra2005, author = {Soetens, Peter and Bruyninckx, Herman}, title = {Realtime Hybrid Task-Based Control for Robots and Machine Tools}, booktitle = {IEEE International Conference on Robotics and Automation 2005}, pages = {260--265}, year = {2005} } @PhDThesis{ soetens2006, author = {Soetens, Peter}, title = {A Software Framework for Real-Time and Distributed Robot and Machine Control}, school = {Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium}, year = {2006}, month = {May}, note = {\url{http://www.mech.kuleuven.be/dept/resources/docs/soetens.pdf}} } @Article{ gadeyne-ijrr2005, author = {Gadeyne, Klaas and Lefebvre, Tine and Bruyninckx, Herman}, title = {{B}ayesian Hybrid Model-State Estimation applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation}, journal = {The International Journal of Robotics Research}, volume = {24}, number = {8}, pages = {615--630}, year = {2005} } @PhDThesis{Gadeyne2005, author = {Gadeyne, Klaas}, title = {Sequential {M}onte {C}arlo methods for rigorous {B}ayesian modeling of {A}utonomous {C}ompliant {M}otion}, school = {Dept. Mechanical Engineering, Katholieke Universiteit Leuven}, year = {2005}, month = {September} } @InProceedings{bruyninckx-isrr2003, author = {Bruyninckx, H. and De Schutter, J. and Lefebvre, Tine and Gadeyne, K. and Soetens, Peter and Rutgeerts, Johan and Slaets, P. and Meeussen, Wim}, title = {Building blocks for SLAM in Autonomous Compliant Motion}, booktitle = {International Symposium on Robotics Research 2003}, pages = {432--441}, year = {2003} } @article{YARP2008, author = {Fitzpatrick, Paul and Metta, Giorgio and Natale, Lorenzo}, title = {Towards long-lived robot genes}, journal = {Robot. Auton. Syst.}, volume = {56}, number = {1}, YEAR = {2008}, issn = {0921-8890}, pages = {29--45}, doi = {http://dx.doi.org/10.1016/j.robot.2007.09.014}, publisher = {North-Holland Publishing Co.}, address = {Amsterdam, The Netherlands, The Netherlands}, } @MANUAL{ARNL_Manual, TITLE = {ARNL Installation \& Operations Manual}, organization = {MobileRobots Inc.}, YEAR = {2009}, } @article{YARP2006, author = {G. Metta and P. Fitzpatrick and L. Natale}, interhash = {6bfa3b44b8aeaf82e1f6b97679f77ad9}, intrahash = {f0bb53290115f13f411351a3ec17dfd6}, journal = {International Journal of Advanced Robotics Systems, special issue on Software Development and Integration in Robotics}, number = 1, title = {YARP: Yet Another Robot Platform}, volume = 3, YEAR = 2006, keywords = {imported}, biburl = {http://www.bibsonomy.org/bibtex/2f0bb53290115f13f411351a3ec17dfd6/bernuly} } @INPROCEEDINGS{Nesnas01towarddeveloping, author = {Issa A. D. Nesnas and Richard Volpe and Tara Estlin and Hari Das and Richard Petras and Darren Mutz}, title = {Toward Developing Reusable Software Components for Robotic Applications}, booktitle = {in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS} 2001, YEAR = {2001} } @INPROCEEDINGS{CLARAty2001, author={Volpe, R. and Nesnas, I. and Estlin, T. and Mutz, D. and Petras, R. and Das, H.}, booktitle={Aerospace Conference, 2001, IEEE Proceedings.}, title={The CLARAty architecture for robotic autonomy}, YEAR={2001}, month={}, volume={1}, number={}, pages={1/121 -1/132 vol.1}, keywords={CLARAty architecture;Mars rover platforms;autonomous robot software architecture;autonomy-control interaction coupling;coupled layer architecture;decision layer;declarative planning methods;evolutionary modification;flight implementation;functional layer;improved modularity;object-oriented software hierarchy;procedural planning methods;resource prediction;robotic autonomy;state estimation;status reporting;system granularity;system software;three-level robotics architecture;two-tiered design;aerospace computing;aerospace robotics;object-oriented programming;path planning;planetary rovers;remotely operated vehicles;report generators;robot programming;state estimation;systems software;telerobotics;}, doi={10.1109/AERO.2001.931701}, ISSN={},} @incollection{CLARAty2007, abstract = {Developing reusable robotic software is particularly difficult because there is no universally agreed upon definition of what a robot is. Over the past half-century, robots took many forms. Some were inspired by their biological counterparts such as humanoids, dogs, snakes, and spiders. Others were designed for particular domains such as manufacturing, medical, service, military, or space applications. They took the form of arms, wheeled robots, legged robots, hoppers, blimps, underwater vehicles, sub-surface diggers, and even reconfigurable robots.}, address = {Berlin, Heidelberg}, author = {Nesnas, Issa}, booktitle = {Software Engineering for Experimental Robotics }, chapter = {3}, citeulike-article-id = {6759600}, citeulike-linkout-0 = {http://dx.doi.org/10.1007/978-3-540-68951-5\_3}, citeulike-linkout-1 = {http://www.springerlink.com/content/v23687368j32013l}, doi = {10.1007/978-3-540-68951-5\_3}, editor = {Brugali, Davide}, isbn = {978-3-540-68949-2}, keywords = {architecture, robotics}, pages = {31--70}, posted-at = {2010-04-20 14:41:17}, priority = {2}, publisher = {Springer Berlin Heidelberg}, series = {Springer Tracts in Advanced Robotics}, title = {The CLARAty Project: Coping with Hardware and Software Heterogeneity}, url = {http://dx.doi.org/10.1007/978-3-540-68951-5\_3}, volume = {30}, YEAR = {2007} } @ARTICLE{CLARAty2006, AUTHOR = {Issa A.D. Nesnas and Reid Simmons and Daniel Gaines and Clayton Kunz and Antonio Diaz-Calderon; Tara Estlin and Richard Madison and John Guineau and Michael McHenry and I-Hsiang Shu and David Apfelbaum}, TITLE = {CLARAty: Challenges and Steps Toward Reusable Robotic Software}, JOURNAL = { International Journal of Advanced Robotic Systems }, YEAR = {2006}, volume = {3}, number = {1}, pages = { 023-030}, } @ARTICLE{CLARAty2006_2, AUTHOR = {Antonio Diaz-Calderon and Issa A. D. Nesnas and Hari Das Nayar and Won S. Kim}, TITLE = {Towards a Unified Representation of Mechanisms for Robotic Control Software}, JOURNAL = { International Journal of Advanced Robotic Systems }, YEAR = {2006}, volume = {3}, number = {1}, pages = { 061-066}, } @INPROCEEDINGS{CLARAty2005, author={Estlin, T. and Gaines, D. and Chouinard, C. and Fisher, F. and Castano, R. and Judd, M. and Anderson, R.C. and Nesnas, I.}, booktitle={Aerospace Conference, 2005 IEEE}, title={Enabling autonomous rover science through dynamic planning and scheduling}, YEAR={2005}, month={5-12}, volume={}, number={}, pages={385 -396}, keywords={Mars exploration rovers;autonomous rover decision-making;autonomous rover science;data-analysis software;dynamic planning;dynamic scheduling;onboard intelligent decision-making;path-planning software;rover navigation;Mars;aerospace robotics;control engineering computing;decision making;dynamic scheduling;mobile robots;navigation;path planning;planetary rovers;}, doi={10.1109/AERO.2005.1559331}, ISSN={},} @INPROCEEDINGS{CLARAty2004, author={Bualat, M.G. and Kunz, C.G. and Wright, A.R. and Nesnas, I.A.D.}, booktitle={Aerospace Conference, 2004. Proceedings. 2004 IEEE}, title={Developing an autonomy infusion infrastructure for robotic exploration}, YEAR={2004}, month={6-13}, volume={2}, number={}, pages={ 849 - 860 Vol.2}, keywords={ CLARA; K9 rover; autonomous science; autonomy infusion infrastructure; coupled layer architecture for robotic autonomy; fault diagnosis; remote institution; robotic exploration; rover testbeds; single communication cycle instrument placement; software system; Mars; aerospace control; fault diagnosis; mobile robots; planetary rovers; remotely operated vehicles;}, doi={10.1109/AERO.2004.1367685}, ISSN={1095-323X},} @INPROCEEDINGS{CLARAty2004_2, author={Bualat, M.G. and Kunz, C.G. and Wright, A.R. and Nesnas, I.A.D.}, booktitle={Aerospace Conference, 2004. Proceedings. 2004 IEEE}, title={Developing an autonomy infusion infrastructure for robotic exploration}, YEAR={2004}, month={6-13}, volume={2}, number={}, pages={ 849 - 860 Vol.2}, keywords={ CLARA; K9 rover; autonomous science; autonomy infusion infrastructure; coupled layer architecture for robotic autonomy; fault diagnosis; remote institution; robotic exploration; rover testbeds; single communication cycle instrument placement; software system; Mars; aerospace control; fault diagnosis; mobile robots; planetary rovers; remotely operated vehicles;}, doi={10.1109/AERO.2004.1367685}, ISSN={1095-323X},} @INPROCEEDINGS{CLARAty2003, author={Volpe, R.}, booktitle={Aerospace Conference, 2003. Proceedings. 2003 IEEE}, title={Rover functional autonomy development for the mars mobile science laboratory}, YEAR={2003}, month={5-12}, volume={2}, number={}, pages={ 643 - 652}, keywords={}, doi={10.1109/AERO.2003.1235474}, ISSN={1095-323X },} @INPROCEEDINGS{CLARAty2003_2, author = {Issa A. D. Nesnas and Anne Wright and Max Bajracharya and Reid Simmons and Tara Estlin and Won So Kim}, title = {Claraty: An architecture for reusable robotic software}, booktitle = {in SPIE Aerosense Conference 2003}, YEAR = {2003} } @INPROCEEDINGS{CLARAty2003_3, author = {Issa A. D. Nesnas and Anne Wright and Max Bajracharya and Reid Simmons and Tara Estlin}, title = {Claraty and challenges of developing interoperable robotic software}, booktitle = {In invited to International Conference on Intelligent Robots and Systems (IROS} 2003, YEAR = {2003}, pages = {2428--2435} } @INPROCEEDINGS{CLARAty2003_4, author={ Urmson, C. and Simmons, R. and Nesnas, I.}, booktitle={Aerospace Conference, 2003. Proceedings. 2003 IEEE}, title={A generic framework for robotic navigation}, YEAR={2003}, month={march}, volume={5}, number={}, pages={ 2463 - 2470}, keywords={}, doi={}, ISSN={1095-323X },} @INPROCEEDINGS{CLARAty2003_5, author={Chouinard, C.M. and Fisher, F. and Gaines, D.M. and Estlin, T.A. and Schaffer, S.R.}, booktitle={Aerospace Conference, 2003. Proceedings. 2003 IEEE}, title={An approach to autonomous operations for remote mobile robotic exploration}, YEAR={2003}, month={march}, volume={1}, number={}, pages={ 1 - 322 vol.1}, keywords={ Intelligent decision-making capabilities; Mars-like environment; autonomous operations; autonomous robotic system; balanced reasoning; procedural modeling; reactive reasoning; real-world execution; remote mobile robotic exploration; research rovers; resource estimations; uncertainty handling; mobile robots; planetary rovers; remotely operated vehicles; space vehicles; uncertainty handling;}, doi={10.1109/AERO.2003.1235062}, ISSN={1095-323X },} @MISC{Carmen2008, title = {Carnegie Mellon Robot Navigation Toolkit}, howpublished = {Online: http://carmen.sourceforge.net/ }, YEAR = {2008}, } @inproceedings{Spica2007, author = {Ulrich Kaufmann and Roland Reichle and Christof Hoppe and Philipp A. Baer}, booktitle = {International Workshop on Robot Vision, VISAPP 2007}, interhash = {8d1e1371238e3d720f2990d63a63c89d}, intrahash = {da13e081815f82dd24ad6878518304aa}, note = {accepted}, title = {An Unsupervised Approach for Adaptive Color Segmentation}, url = {http://www.vs.uni-kassel.de/publications/2007/KRHB07}, year = 2007, keywords = {color imported phbaer-diss phbaer-pub robot robotic segmentation year:2007}, added-at = {2008-06-01T13:37:41.000+0200}, biburl = {http://www.bibsonomy.org/bibtex/2da13e081815f82dd24ad6878518304aa/phbaer} } @inproceedings{spica2008, author = {Philipp A. Baer and Roland Reichle and Kurt Geihs}, booktitle = {IAS-10}, crossref = {burgard08ias}, editor = {Wolfram Burgard and Rüdiger Dillmann and Christian Plagemann and Nikolaus Vahrenkamp}, interhash = {1e56455937368466bae4ea5632dfb62a}, intrahash = {085e69455f7b5c3c9d6903554327e8b7}, organization = {IAS Society}, pages = {211--220}, publisher = {Proceedings of the 10th International Conference on Intelligent Autonomous Systems}, title = {{The Spica Development Framework -- Model-Driven Software Development for Autonomous Mobile Robots}}, year = 2008, keywords = {carpe development geminga noctem phbaer-diss phbaer-pub phbaer-spica-pubyear:2008 robocup robot software spica}, added-at = {2008-07-25T11:53:36.000+0200}, biburl = {http://www.bibsonomy.org/bibtex/2085e69455f7b5c3c9d6903554327e8b7/phbaer} } @INPROCEEDINGS{middleware2008, author={Namoshe, M. and Tlale, N.S. and Kumile, C.M. and Bright, G.}, journal={Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on}, title={Open middleware for robotics}, year={2008}, month={dec.}, volume={}, number={}, pages={189 -194}, keywords={complex system;distributed system;heterogeneous set;middleware;mobile robot;multirobot system;robot complexity;control engineering computing;middleware;mobile robots;multi-robot systems;}, doi={10.1109/MMVIP.2008.4749531}, ISSN={},} @INPROCEEDINGS{2010:IROS-Thomas-vonStryk, author = {D. Thomas and O. von Stryk}, title = {Efficient Communication in Autonomous Robot Software}, year = {2010}, month = {Oct. 18 - 22}, address = {Taipei, Taiwan}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010}, abstract = {Software for autonomous robots solving challenging tasks in research or application is becoming increasingly complex. System integration has to deal with various different functional components. To decouple those components from each other and to enable a modular and reuseable software architecture a robot middleware is typically used. But this intermediate layer introduces significant additional overhead during run-time. In this work a methodology is described to utilize specific application characteristics to improve communication efficiency between different robot software modules. By composing several components in a single thread memory copying or locking operations can be avoided, when data is exchanged between those parts. The optimization can be achieved without compromising the advantages of a communication layer. Still the modifications are transparent to the maybe already existing components. Experimental results in the scenario of autonomous soccer-playing humanoid robots are presented and exhibit remarkable reduction in communication overhead. Furthermore this approach can be implemented in or on-top of other communication layers.}, } @ARTICLE{MSRS2008, author={Jackson, J.}, journal={Robotics Automation Magazine, IEEE}, title={Microsoft robotics studio: A technical introduction}, year={2007}, month=dec. , volume={14}, number={4}, pages={82 -87}, keywords={Microsoft robotics studio;industry software standard;programmer interaction;robot control;control engineering computing;robots;user interfaces;}, doi={10.1109/M-RA.2007.905745}, ISSN={1070-9932},} @MISC{Bonasso97experienceswith, author = {R. Peter Bonasso and R. James Firby and Erann Gat and David Kortenkamp and David P. Miller and Marc G. Slack}, title = {Experiences with an Architecture for Intelligent, Reactive Agents}, YEAR = {1997}, } @INPROCEEDINGS{Carmen2003, author = {Michael Montemerlo and Nicholas Roy and Sebastian Thrun}, title = {Perspectives on standardization in mobile robot programming: The carnegie mellon navigation (CARMEN) toolkit}, booktitle = {In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)2003}, YEAR = {2003}, pages = {2436--2441} } @CONFERENCE{Yilmaz2007, author = {A. Yilmaz}, title = {Sensor Fusion in Computer Vision}, booktitle = {Urban Remote Sensing Joint Event}, YEAR = {2007}, pages = {1-5}, month = {April}, abstract={Sensor fusion has been an active area of research in the field of computer vision for over two decades. Early approaches to sensor fusion were focused on the recovery of the three-dimensional scene structure from two short baseline cameras which was considered to be similar to the human vision system. Recently with the availability of sensors of various modalities, computer vision researchers have started looking into these new sensory data for the solution of automated understanding of the scene content. In this paper, an outline of some of the most common sensor fusion techniques is provided. Although no priority is given to one technique over the others, we selected only a handful techniques that are related to sensor fusion in the context of urban city modeling.} } @INPROCEEDINGS{Goldberg1995, AUTHOR = {Kenneth Y. Goldberg and Michael Mascha and Steve Gentner and Nick Rothenberg and Carl Sutter and Jeff Wiegley}, title = {Destop Teleoperation via the World Wide Web}, booktitle = {IEEE International Conference on Robotics and Automation 1995}, YEAR = {1995}, pages = {654-659}, volume = {1}, month = {May} } @INPROCEEDINGS{Safaric1999, AUTHOR = {R. Safaric, K. Jezernik, D.W. Calkin and R.M. Parkin}, TITLE = {Telerobot control via Internet}, BOOKTITLE = {Proceedings of the IEEE International Symposium on Industrial Electronics 1999}, YEAR = {1999}, volume = {1}, pages = {298 - 303}, month = {July }, abstract= {This paper describes design issues involved in providing remote users with Internet access to a laboratory robotic system and presents a real experiment which enables students to control a six degree teleoperated robotic manipulator. Simulation tools for the robotic hardware are developed using Java and VRML 97 to create a desktop virtual reality environment which improves the visualisation of the manipulator hardware and associated workspace. The V-Collide library of C++ collision detection functions has also been integrated within the simulator to provide realistic detection between the virtual robot and its associated workspace. Communication between the remote user and project server via the Internet, interface electronics and control software is also discussed} } @ARTICLE{Xavier1999, AUTHOR = {Reid Simmons, Joaquin Fernandez, Richard Goodwin, Sven Koenig and Joseph O'Sullivan}, TITLE = {Xavier: An Autonomous Mobile Robot on the Web}, JOURNAL = {Robotics and Automation Magazine}, YEAR = {1999}, abstract = {For the past three YEARs, we have been running an experiment in web-based interaction with an autonomous indoor mobile robot. The robot, Xavier, can accept commands to travel to different offices in our building, broadcasting camera images as it travels. The experiment, which was originally designed to test a new navigation algorithm, has proven very successful, with over 30,000 requests received and 210 kilometers travelled, to date. This article describes the autonomous robot system, the web-based interfaces, and how they communicate with the robot. It highlights lessons learned during this experiment in web-based robotics and includes recommendations for putting future mobile robots on the web.} @INPROCEEDINGS{MINERVA1999, AUTHOR = {Sebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hahnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, and Dirk Schulz}, TITLE = {MINERVA: A second-generation museum tour-guide robot}, BOOKTITLE = {IEEE International Conference on Robotics and Automation 1999}, YEAR = {1999}, volume = {3}, pages = {1999 - 2005}, address = {Detroit, Michigan, USA}, month = {May}, abstract = {This paper describes an interactive tour-guide robot, which was successfully exhibited in a Smithsonian museum. During its two weeks of operation, the robot interacted with thousands of people, traversing more than 44 km at speeds of up to 163 cdsec. Our approach specijically addresses issues such as safe navigation in unmodijied and dynamic environments, and short-term human-robot interaction. It uses learning pervasively at all levels of the sofrware architecture.}, } @INPROCEEDINGS{Burgard1999, AUTHOR = {Wolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk H¨ahnel, Gerhard Lakemeyery, Dirk Schulz, Walter Steiner, and Sebastian Thrunz}, TITLE = {The Interactive Museum Tour-Guide Robot}, BOOKTITLE = { American Association for Artificial Intelligence (AAAI-98)}, YEAR = {1998}, pages = {1999 - 2005}, address = {Madison, Wisconsin, USA}, abstract = {This paper describes the software architecture of an autonomous tour-guide/tutor robot. This robot was recently deployed in the “Deutsches Museum Bonn,” were it guided hundreds of visitors through the museum during a six-day deployment period. The robot’s control software integrates low-level probabilistic reasoning with high-level problem solving embedded in first order logic. A collection of software innovations, described in this paper, enabled the robot to navigate at high speeds through dense crowds, while reliably avoiding collisions with obstacles—some of which could not even be perceived. Also described in this paper is a user interface tailored towards non-expert users, which was essential for the robot’s success in the museum. Based on these experiences, this paper argues that time is ripe for the development of AI-based commercial service robots that assist people in everyday life.}, } @ARTICLE{RISCBOT2006, AUTHOR = {Rajeev Sanyal, Sarosh Patel And Tarek Sobh}, TITLE = {RISCBOT: a www enabled mobile surveillance and identification robot}, JOURNAL = {Journal of Intelligent and Robotic Systems}, YEAR = {2006}, volume = {45}, number = {1}, pages = {15-30}, month = {January}, } @MISC{OrchestraControl, title = {Orchestra Control}, howpublished = {Online: http://www.orchestracontrol.com/ }, YEAR = {2010}, } @MISC{Dave, title = {Dave's Robotic Operating System}, howpublished = {Online: http://dros.org/ }, YEAR = {2009}, } @MISC{mrpt, title = {The Mobile Robot Programming Toolkit}, howpublished = {Online: http://www.mrpt.org/ }, YEAR = {2010}, } @MISC{ERSP, title = {ERSP 3.1 Software Development Kit }, howpublished = {Online: http://www.evolution.com/products/ersp/ }, YEAR = {2010}, } @MISC{skilligent, title = {Skilligent}, howpublished = {Online: http://www.skilligent.com/index.shtml }, YEAR = {2010}, } @article{RT1, author = {Y. Tsuchiya and M. Mizukawa and T. Suehiro and N. Ando and H. Nakamoto and A. Ikezoe}, title = {Development of Light-Weight RT-Component (LwRTC) on Embedded Processor -Application to Crawler Control Subsystem in the Physical Agent System-}, journal ={SICE-ICASE International Joint Conference}, volume = {0}, isbn = {89-950038-4-7}, YEAR = {2006}, pages = {2618-2622}, doi = {http://doi.ieeecomputersociety.org/10.1109/SICE.2006.314958}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } @article{RT2, author = {K. Ohara and T. Suzuki and N. Ando and B.K. Kim and K. Ohba and K. Tanie}, title = {Distributed Control of Robot Functions using RT Middleware}, journal ={SICE-ICASE International Joint Conference}, volume = {0}, isbn = {89-950038-4-7}, YEAR = {2006}, pages = {2629-2632}, doi = {http://doi.ieeecomputersociety.org/10.1109/SICE.2006.314960}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } @article{10.1109/SICE.2006.315045, author = {N. Ando and T. Suehiro and K. Kitagaki and T. Kotoku}, title = {RT(Robot Technology)-Component and its Standardization - Towards Component Based Networked Robot Systems Development}, journal ={SICE-ICASE International Joint Conference}, volume = {0}, isbn = {89-950038-4-7}, YEAR = {2006}, pages = {2633-2638}, doi = {http://doi.ieeecomputersociety.org/10.1109/SICE.2006.315045}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } @INPROCEEDINGS{RT3, author={Ando, N. and Suehiro, T. and Kitagaki, K. and Kotoku, T. and Woo-Keun Yoon}, booktitle={Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on}, title={RT-Component Object Model in RT-Middleware \&Distributed Component Middleware for RT (Robot Technology)}, YEAR={2005}, month={30-30}, volume={}, number={}, pages={457-462}, keywords={RT-component object model;RT-middleware;human daily life support system;robot system integration;robot technology;software infrastructure;middleware;robot programming;software engineering;}, doi={10.1109/CIRA.2005.1554319}, ISSN={},} @INPROCEEDINGS{RT4, author={Ando, N. and Suehiro, T. and Kitagaki, K. and Kotoku, T. and Woo-Keun Yoon}, booktitle={Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on}, title={RT-middleware: distributed component middleware for RT (robot technology)}, YEAR={2005}, month={2-6}, volume={}, number={}, pages={ 3933 - 3938}, keywords={ component development; distributed component middleware; robot system integration; robot technology; robotic system development; software platform; control engineering computing; middleware; object-oriented programming; robot programming;}, doi={10.1109/IROS.2005.1545521}, ISSN={},} @INPROCEEDINGS{RT5, author={Ando, N. and Suehiro, T. and Kitagaki, K. and Kotoku, T. and Woo-Keun Yoon}, booktitle={Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on}, title={Composite component framework for RT-middleware (robot technology middleware)}, YEAR={2005}, month={24-28}, volume={}, number={}, pages={1330 -1335}, keywords={composite component framework;robot technology middleware;robotic system;software component;middleware;robots;software engineering;}, doi={10.1109/AIM.2005.1511195}, ISSN={},} @INPROCEEDINGS{RT6, author={Chishiro, H. and Fujita, Y. and Takeda, A. and Kojima, Y. and Funaoka, K. and Kato, S. and Yamasaki, N.}, booktitle={Object/Component/Service-Oriented Real-Time Distributed Computing, 2009. ISORC '09. IEEE International Symposium on}, title={Extended RT-Component Framework for RT-Middleware}, YEAR={2009}, month={17-20}, volume={}, number={}, pages={161 -168}, keywords={CORBA;GIOP;RT-component framework;RT-middleware;common object request broker architecture;component management;component-based robot systems;feneral interORB protocol;robot technology;distributed object management;middleware;object-oriented programming;protocols;robot programming;}, doi={10.1109/ISORC.2009.40}, ISSN={1555-0885},} @INPROCEEDINGS{RT7, author={Matai, J. and Young-Ho Suh and Hyuongsun Kim and Kang-Woo Lee and Hyun Kim}, booktitle={Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on}, title={Integration framework for interoperability of distributed and heterogeneous robot middlewares}, YEAR={2008}, month={17-20}, volume={}, number={}, pages={2337 -2343}, keywords={Agency of Industrial Science and Technology;CAMUS framework;Electronics and Telecommunications Research Institute;context-aware middleware for URC systems;distributed-heterogeneous robot middlewares;interoperability integration framework;robotic software development;software framework;ubiquitous robot companion;control engineering computing;middleware;open systems;robots;software engineering;}, doi={10.1109/ICARCV.2008.4795898}, ISSN={},} @INPROCEEDINGS{RT8, author={Mizukawa, M.}, booktitle={Advanced Robotics and its Social Impacts, 2005. IEEE Workshop on}, title={Robot technology (RT) trend and standardization}, YEAR={2005}, month={12-15}, volume={}, number={}, pages={ 249 - 253}, keywords={ middleware service; robot technology; middleware; robots;}, doi={10.1109/ARSO.2005.1511660}, ISSN={},} @INPROCEEDINGS{RT9, author={Songmin Jia and Hada, Y. and Gakuhari, H. and Takase, K. and Ohnishi, T. and Nakamoto, H.}, booktitle={Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on}, title={Intelligent Home Service Robotic System Based on Robot Technology Middleware}, YEAR={2006}, month={9-15}, volume={}, number={}, pages={4478 -4483}, keywords={CORBA;disabled wheelchair users;intelligent home service robotic system;network distributed monitoring system;network distributed software;robot technology middleware;robotic functional elements;control engineering computing;distributed object management;geriatrics;handicapped aids;medical robotics;middleware;mobile robots;service robots;}, doi={10.1109/IROS.2006.282084}, ISSN={},} @INPROCEEDINGS{RT10, author={Songmin Jia and Shang, E. and Abe, T. and Fei Yang and Takase, K.}, booktitle={Mechatronics and Automation, 2005 IEEE International Conference}, title={Development of service robotic system based on robot technology middleware}, YEAR={2005}, month={29}, volume={2}, number={}, pages={ 1075 - 1080 Vol. 2}, keywords={ CORBA; RFID; RT software component; RTM; interactive object operation interface; network-distributed software sharing; radio frequency identification; robot technology middleware; service robotic system; middleware; mobile robots; radiofrequency identification; service robots;}, doi={}, ISSN={},} @INPROCEEDINGS{RT11, author={Sasaki, T. and Hashimoto, H.}, booktitle={Human System Interactions, 2009. HSI '09. 2nd Conference on}, title={Design and implementation of distributed sensor network for Intelligent Space based on Robot Technology components}, YEAR={2009}, month={21-23}, volume={}, number={}, pages={400 -405}, keywords={component-based system development;distributed actuator;distributed sensor network;intelligent robot system;intelligent space;mechatronics;mobile robot;robot technology component middleware;software technology;distributed sensors;intelligent actuators;intelligent robots;intelligent sensors;mechatronics;middleware;mobile robots;object-oriented programming;}, doi={10.1109/HSI.2009.5091013}, ISSN={},} @INPROCEEDINGS{RT12, author={Kotoku, T. and Mizukawa, M.}, booktitle={SICE-ICASE, 2006. International Joint Conference}, title={Robot Middleware and its Standardization in OMG - Report on OMG Technical Meetings in St. Louis and Boston}, YEAR={2006}, month={18-21}, volume={}, number={}, pages={2028 -2031}, keywords={RT-middleware technology;industrial robot middleware;mechatronics community;object managing group;platform-independent model;robotics domain task force;software development;industrial robots;mechatronics;middleware;service robots;standardisation;}, doi={10.1109/SICE.2006.315486}, ISSN={},} @INPROCEEDINGS{ Pyro2003, author = {Douglas Blank and Deepak Kumar and Bryn Mawr College}, title = {Pyro: A Python-based Versatile Programming Environment for Teaching Robotics}, booktitle = {Journal of Educational Resources in Computing (JERIC) 2003}, YEAR = {2003}, pages = {1--15} } @article{ Pyro2006, author = {Douglas S. Blank and Deepak Kumar and Lisa Meeden and Holly A. Yanco}, title = {The Pyro Toolkit for AI and Robotics}, journal = {AI Magazine}, volume = {27}, number = {1}, YEAR = {2006}, pages = {39-50}, bibsource = {DBLP, http://dblp.uni-trier.de} } @INPROCEEDINGS{ Pyro2003_2, author = {Douglas Blank and Lisa Meeden and Deepak Kumar}, title = {Python Robotics: An Environment for Exploring Robotics Beyond LEGOs}, booktitle = {In Proceedings of the SIGCSE Conference 2003}, YEAR = {2003}, pages = {317--321}, publisher = {ACM Press} } @inproceedings{ Pyro2005, author = {Blank, Douglas and Kumar, Deepak and Meeden, Lisa and Yanco, Holly}, title = {Pyro: an integrated environment for robotics education}, booktitle = {AAAI'05: Proceedings of the 20th national conference on Artificial intelligence 2005}, YEAR = {2005}, isbn = {1-57735-236-x}, pages = {1718--1719}, location = {Pittsburgh, Pennsylvania}, publisher = {AAAI Press}, } @INPROCEEDINGS{ Pyro2004, author = {Douglas Blank and Holly Yanco and Deepak Kumar and Lisa Meeden}, title = {Avoiding the Karel-the-Robot Paradox: A framework for making sophisticated robotics accessible}, booktitle = {in Proceedings of the 2004 AAAI Spring Symposium on Accessible, Hands-on AI and Robotics Education}, YEAR = {2004}, publisher = {AAAI Spring Symposium} } @BOOK{Siegwart2004, AUTHOR = {Roland Siegwart and Illah R. Nourbakhsh}, TITLE = {Introduction to Autonomous Mobile Robots}, PUBLISHER = {The MIT Press}, YEAR = {2004}, series = {Intelligent Robotics and Autonomous Agents series}, edition = {1}, month = {April}, isbn = {0-262-19502-X}, } @ARTICLE{Dissanayake2001, AUTHOR = {M.W.M.G. Dissanayake, P.Newman, S. Clark, H.F. Durrant-Whyte, and M. Csorba }, TITLE = {A solution to the simultaneous localization and map building (SLAM)problem}, JOURNAL = {IEEE Transactions on Robotics and Automation 2001}, YEAR = {2001}, volume = {17}, number = {3}, pages = {229 - 241}, month = {Jun}, abstract = {The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Starting from the estimation-theoretic foundations of this problem developed in [1]–[3], this paper proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is first elucidated. A proof that the estimated map converges monotonically to a relative map with zero uncertainty is then developed. It is then shown that the absolute accuracy of the map and the vehicle location reach a lower bound defined only by the initial vehicle uncertainty. Together, these results show that it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and, using relative observations only, incrementally build a perfect map of the world and to compute simultaneously a bounded estimate of vehicle location. This paper also describes a substantial implementation of the SLAM algorithm on a vehicle operating in an outdoor environment using millimeter-wave (MMW) radar to provide relative map observations. This implementation is used to demonstrate how some key issues such as map management and data association can be handled in a practical environment. The results obtained are cross-compared with absolute locations of the map landmarks obtained by surveying. In conclusion, this paper discusses a number of key issues raised by the solution to the SLAM problem including suboptimal map-building algorithms and map management.}, } @ARTICLE{Guivant2001, AUTHOR = {José E. Guivant and Eduardo Mario Nebot }, TITLE = {Optimization of the simultaneous localization and map-building algorithm for real-time implementation}, JOURNAL = {IEEE Transactions on Robotics and Automation}, YEAR = {2001}, volume = {17}, number = {3}, pages = {242 - 257}, month = {Jun}, abstract = {This paper addresses real-time implementation of the simultaneous localization and map-building (SLAM) algorithm. It presents optimal algorithms that consider the special form of the matrices and a new compressed filter that can significantly reduce the computation requirements when working in local areas or with high frequency external sensors. It is shown that by extending the standard Kalman filter models the information gained in a local area can be maintained with a cost ( 2), where is the number of landmarks in the local area, and then transferred to the overall map in only one iteration at full SLAM computational cost. Additional simplifications are also presented that are very close to optimal when an appropriate map representation is used. Finally the algorithms are validated with experimental results obtained with a standard vehicle running in a completely unstructured outdoor environment.}, } @CONFERENCE{Mohammed2007, author = {Mohammed Mohammed, Ayssam ElKady and Tarek Sobh}, title = {New concept in optimizing Manipulability index of serial Manipulators, using SVD method}, booktitle = {Industrial Electronics, Technology and Automation (IETA 07)}, YEAR = {2007}, month = {Dec}, } @CONFERENCE{Borenstein2000, author = {I. Ulrich and J. Borenstein }, title = {VFH$^{*}$: Local Obstacle Avoidance with Look-Ahead Verification}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2000)}, YEAR = {2000}, volume = {3}, pages = {2505 - 2511}, address = {San Francisco, CA}, month = {April} } @CONFERENCE{Borenstein1998, author = {I. Ulrich and J. Borenstein }, title = {VFH$^{+}$: Reliable Obstacle Avoidance for Fast Mobile Robots}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 98)}, YEAR = {1998}, volume = {2}, pages = {1572 - 1577}, address = {Leuven, Belgium}, month = {May} } @CONFERENCE{Park2001, author = {Min Gyu Park, Jae Hyun Jeon and Min Cheol Lee}, title = {Obstacle avoidance for mobile robots using artificial potentialfield approach with simulated annealing}, booktitle = {IEEE International Symposium on Industrial Electronics (ISIE 2001)}, YEAR = {2001}, volume = {3}, pages = {1530 - 1535}, address = {Pusan, South Korea}, month = {June }, abstract = {Obstacle avoidance for mobile robots using artificial potentialfield approach with simulated annealing}, } @CONFERENCE{Dirk2004, author = {Dirk H\"ahnel, Wolfram Burgard, Dieter Fox, Ken Fishkin and Matthai Philipose}, title = {Mapping and Localization with RFID Technology}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2004)}, YEAR = {2004}, volume = {1}, pages = {1015 - 1020}, address = {New Orleans. LA}, month = {April}, abstract= {We analyze whether radio frequency identification (RFID) technology can be used to improve the localization of mobile robots and persons in their environment. In particular we study the problem of localizing RFID tags with a mobile platform that is equipped with a pair of RFID antennas. We present a probabilistic measurement model for RFID readers that allow us to accurately localize RFID tags in the environment. We also demonstrate how such maps can be used to localize a robot and persons in their environment. Finally, we present experiments illustrating that the computational requirements for global robot localization can be reduced strongly by fusing RFID information with laser data.} } @CONFERENCE{ZHUANG2006, AUTHOR = {ZHUANG Hui-zhong, DU Shu-xin and WU Tie-jun}, TITLE = {On-line real-time path planning of mobile robots in dynamic uncertain environment}, JOURNAL = {The Sixth World Congress on Intelligent Control and Automation, 2006 (WCICA 2006)}, YEAR = {2006}, volume = {2}, pages = {8886 - 8891}, address ={Dalian , China}, abstract = {A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the desirable direction angle is taken into consideration as an index of path optimization. Its effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples}, } @misc{pyroWebsite, title = {Python Robotics Website}, year = {2011}, howpublished = "Website", note = {\url{pyrorobotics.org}} } @misc{CORBAWebsite, title = {Common Object Request Broker Architecture (CORBA)}, year = {2008}, howpublished = "Website", note = {\url{www.omg.org/spec/CORBA}} } \end{thebibliography} @comment{jabref-meta: selector_publisher:} @comment{jabref-meta: selector_author:} @comment{jabref-meta: selector_journal:} @comment{jabref-meta: selector_keywords:} \end{thebibliography} @comment{jabref-meta: selector_publisher:} @comment{jabref-meta: selector_author:} @comment{jabref-meta: selector_journal:} @comment{jabref-meta: selector_keywords:}