Integration Policy for Critical Multi-layered Distributed Robotics Applications
Tomorrow, advanced mobile robotic applications have to be able to cope with various situations and perform tasks in a dynamic environment. Furthermore, finding concrete applications in a wide range of user oriented industrial products, such systems, embedding several computing units, have to support both increasing demand of interactivity and number of non-critical pieces of hardware and software. To this aim not only advanced programming techniques, but also appropriate control architectures are required. This paper proposes a generic methodology, actually in use for our own products, that offers both the possibility to model such internally competing systems and the capability to coordinate them. A special parallel is drawn between our approach and the SynDEx1 software methodology, developed by INRIA, on which our current implementation relies.
KeywordsIntegration Policy Abstraction Layer Motion Command Criticality Level Synchronous Data Flow
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