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The Robot Software Communications Architecture (RSCA): Embedded Middleware for Networked Service Robots (2006)
| Content Provider | CiteSeerX |
|---|---|
| Author | Lee, Jaesoo Jeon, Gwangil Hong, Seongsoo Eom, Hyeonsang |
| Abstract | 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. |
| File Format | |
| Journal | Proceedings of the IEEE International Workshop on Parallel and Distributed Real-Time Systems (WPDRTS |
| Publisher Date | 2006-01-01 |
| Access Restriction | Open |
| Subject Keyword | Networked Service Robot Original Sca Run-time Performance Component-based Robot Application Robot Application Standard Operating Environment Robot Software Communication Architecture Communication Middleware Real-time Guarantee Networked Home Service Robot Robot Middleware Technology Deployment Middleware Real-time Operating System Radio Domain Operating Environment Appropriate Event Service |
| Content Type | Text |
| Resource Type | Proceeding Conference Proceedings |
