Abstract
Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing requirements which make the design and implementation of a robot perception architecture a complex and tedious exercise which is prone to error. We suggest to specify the integral parts of robot perception architectures using explicit models, which allows to easily configure, modify, and validate them. The paper presents the domain-specific language RPSL, some examples of its application, the current state of implementation and some validation experiments.
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Hochgeschwender, N., Schneider, S., Voos, H., Kraetzschmar, G.K. (2014). Declarative Specification of Robot Perception Architectures. In: Brugali, D., Broenink, J.F., Kroeger, T., MacDonald, B.A. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2014. Lecture Notes in Computer Science(), vol 8810. Springer, Cham. https://doi.org/10.1007/978-3-319-11900-7_25
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DOI: https://doi.org/10.1007/978-3-319-11900-7_25
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-11899-4
Online ISBN: 978-3-319-11900-7
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