This paper focuses on the role of real-time operation support in mobile robot control architectures for service applications. We show that a control architecture with integrated real-time features ensures better performance in terms of accuracy in navigation and reactivity to external events, compared with an architecture where no provision for real-time has been made. We argue that proper consideration to real-time operation should be given in order to ensure safe, dependable robot operation in human-inhabited environments. Along the paper, we describe features of YARA, a software framework improving dependability of mobile robot architectures by virtue of its support for real-time operation.

YARA: a software framework enhancing service robot dependability

REGGIANI, MONICA
2005

Abstract

This paper focuses on the role of real-time operation support in mobile robot control architectures for service applications. We show that a control architecture with integrated real-time features ensures better performance in terms of accuracy in navigation and reactivity to external events, compared with an architecture where no provision for real-time has been made. We argue that proper consideration to real-time operation should be given in order to ensure safe, dependable robot operation in human-inhabited environments. Along the paper, we describe features of YARA, a software framework improving dependability of mobile robot architectures by virtue of its support for real-time operation.
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/180136
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