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  1. Proceedings of the 2013 ACM workshop on Domain-specific modeling (DSM '13)
  2. Generating a ROS/JAUS bridge for an autonomous ground vehicle
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MDE-based sensor management and verification for a self-driving miniature vehicle
Dynamic symbol templates and ports in MetaEdit+
Towards domain-specific property languages: the ProMoBox approach
Evaluating the benefits of using domain-specific modeling languages: an experience report
Model-driven performance estimation, deployment, and resource management for cloud-hosted services
model[NL]generation: natural language model extraction
Generating a ROS/JAUS bridge for an autonomous ground vehicle
A roadmap to domain specific programming languages for environmental modeling: key requirements and concepts
On the way of bottom-up designing textual domain-specific modelling languages
Empirical comparison of language workbenches
On the customization of model management systems for file-centric IDEs

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Generating a ROS/JAUS bridge for an autonomous ground vehicle

Content Provider ACM Digital Library
Author Morley, Patrick Sprinkle, Jonathan Whitsitt, Sean Bunting, Matt Warren, Alex Rabb, Ethan
Abstract Robotic systems have benefitted from standardized middleware that can componentize the development of new capabilities for a robot. The popularity of these robotic middleware systems has resulted in sizable libraries of components that are now available to roboti- cists. However, many robotic systems (such as autonomous vehicles) must adhere to externally defined standards that do not contain a large repository of components. Due to the real-time and safety concerns that accompany the domain of unmanned systems, it is not trivial to interface these middleware systems. However, previous attempts to do so have succeeded at the cost of ad hoc design and implementation. This paper describes a domain-specific approach to the synthesis of a bridge between the popular Robotic Operating System (ROS) and the Joint Architecture for Unmanned Systems (JAUS). The domain-specific nature of the approach permits the bridge to be limited in scope by the application's specific messages (and their attribute mappings between JAUS/ROS), resulting in smaller code size and overhead than would be incurred by a generic solution. Our approach is validated by tests performed on an unmanned vehicle with and without the JAUS/ROS bridge.
Starting Page 13
Ending Page 18
Page Count 6
File Format PDF
ISBN 9781450326001
DOI 10.1145/2541928.2541931
Language English
Publisher Association for Computing Machinery (ACM)
Publisher Date 2013-10-27
Publisher Place New York
Access Restriction Subscribed
Subject Keyword Code generation Jaus Ros Attribute mapping Autonomous vehicles
Content Type Text
Resource Type Article
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