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 Kaupp, T., Brooks, A., Upcroft, B. & Makarenko, A. |
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Building a Software Architecture for a Human-Robot Team Using the Orca Framework
IEEE International Conference on Robotics and Automation (ICRA '07), 2007
Presented at IEEE International Conference on Robotics and Automation (ICRA '07), Rome, Italy, 02 Jan. - 02 Jan. 2007
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Abstract
This paper considers the problem of building a software
architecture for a human-robot team. The objective of the team
is to build a multi-attribute map of the world by performing
information fusion. A decentralized approach to information
fusion is adopted to achieve the system properties of
scalability and survivability. Decentralization imposes
constraints on the design of the architecture and its
implementation. We show how a Component-Based Software
Engineering approach can address these constraints. The
architecture is implemented using Orca -- a component-based
software framework for robotic systems. Experimental results
from a deployed system comprised of an unmanned air vehicle, a
ground vehicle, and two human operators are presented. A
section on the lessons learned is included which may be
applicable to other distributed systems with complex
algorithms. We also compare Orca to the Player software
framework in the context of distributed systems.
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