NDLI: C++ language support for guaranteed initialization, safe termination and error recovery in robotics

Content Provider	IEEE Xplore Digital Library
Author	Cox, I.J.
Copyright Year	1988
Description	Author affiliation: AT&T Bell Lab., New Homdel, NJ, USA (Cox, I.J.)
Abstract	Software issues related to the reliability of robot systems are considered. It is shown how more reliable robot systems can be built using data abstraction and object-oriented programming, as supported within C++, a general-purpose programming language. It is also shown how the constructor mechanism associated with C++ classes can be used to guarantee initialization and self-test of each subsystem of the robot. A complementary destructor mechanism can be used to guarantee safe termination of subsystems under most conditions. These mechanisms are completely transparent to both the user and his application program. Exception handling is discussed and it is shown how object-oriented programming facilities can be used to provide transparent recovery from subsystem failures during program execution, given some hardware redundancy. Most of the examples have been demonstrated and tested using C++ running on an autonomous robot vehicle.
Starting Page	641
Ending Page	643
File Size	321510
Page Count	3
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12128
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Hardware Object oriented programming Redundancy Remotely operated vehicles Mobile robots Service robots Robot sensing systems Intelligent manufacturing systems Computer languages
Content Type	Text
Resource Type	Article

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