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RAFCON: A Graphical Tool for Task Programming and Mission Control

  • Sebastian G. Brunner
  • Franz Steinmetz
  • Rico Belder
  • Andreas Dömel
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9776)

Abstract

There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools to efficiently program heterogeneous robotic systems. Therefore, we created RAFCON, a graphical tool to develop robotic tasks and to be used for mission control by remotely monitoring the execution of the tasks. To define the tasks, we use state machines which support hierarchies and concurrency. Together with a library concept, even complex scenarios can be handled gracefully. RAFCON supports sophisticated debugging functionality and tightly integrates error handling and recovery mechanisms. A GUI with a powerful state machine editor makes intuitive, visual programming and fast prototyping possible. We demonstrated the capabilities of our tool in the SpaceBotCamp national robotic competition, in which our mobile robot solved all exploration and assembly challenges fully autonomously. It is therefore also a promising tool for various RoboCup leagues.

Notes

Acknowledgment

This work has been funded by the Helmholtz-Gemeinschaft Germany as part of the project RACELab, by the Helmholtz Association, project alliance ROBEX, under contract number HA-304 and by the European Commission under contract number FP7-ICT-608849-EUROC.

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Robotics and Mechatronics Center (RMC) of the German Aerospace Center (DLR)WesslingGermany

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