Constraint-based Handling of Component Networks
The ability to reconfigure running complex component networks in a robust manner is the next challenge in robotic software frameworks. The increasing complexity of hard- and software leads to an increasing systems’ complexity. The need to have a non-static version of a collection of components that form a behaviour, for one point in time, is caused not least by limiting resources of processing power. It is not possible to have all algorithms running at each point in time. Therefore, the requirement to manage these component networks came up. This work presents a new constraint-based approach to tackle the problem. The aim of this work is to model a constraint-based system that is able to handle state of the art robotic component networks, without increasing the complexity for the system handling and system instantiation.
Keywords:component networks, reconfiguration, system behaviour, planning, robotics
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