NDLI: Software Evolution of Robot Control Based on OSGi

Content Provider	IEEE Xplore Digital Library
Author	Shengyuan Luo Ping Jiang Jin Zhu
Copyright Year	2004
Description	Author affiliation: Dept. of Inf. & Control Eng., Tongji Univ., Shanghai (Shengyuan Luo; Ping Jiang; Jin Zhu)
Abstract	Robots always work in a variable environment, so the evolutional ability of robot control software is generally required in order to adapt the changing environment for various tasks. Software should be able to be replaced, changed and updated remotely, reliably and across its whole lifecycle. So far, most robot programs are developed in an ad-hoc way and are encapsulated in a closed software package. This article presents an OSGi (http://www.osgi.org) based approach for software evolution of robot control. OSGi provides a dynamic, extensible and versatile software platform for dynamic configuration of software components, i.e. bundles. Using its characteristics of dynamic loading, update and reference management, the primitive behaviors of a robot are implemented as different bundles in OSGi and the complex tasks of a robot can be realized by configuration of interactions and co-operations among the bundles through a ManagerBundle. It facilitates control strategy evolution and makes robot software more flexible and extensible. The system is designed for the middle-size league in RoboCup (http://www.robocup.org) and to provide a software evolution framework for convenient and immediate update of match strategies
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	221
Ending Page	226
File Size	6038074
Page Count	6
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521780
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Robotics and automation Software maintenance Automatic control Control engineering Software packages Application software Software design Mobile robots XML
Content Type	Text
Resource Type	Article

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