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Conception et développement de contrôleurs de robots - Une méthodologie basée sur les composants logiciels

Abstract : One of the major problems encountered in robotics is that of the development of robot control software architectures. This is explained by the increasing complexity of these architectures, which must integrate more and more functionalities of various levels of abstraction (planification, asserves, mode management, perception, etc.) and which require to manage the real-time aspect of robot control. In addition, the functionalities being based on a set of technological elements embedded in the robot, an architecture has to be adapted according to the technological development (replacement of robot operative part elements, new sensors or actuators, etc.). The current challenge is thus to define and to integrate functionalities in the form of reusable software bricks within evolutionary control architectures, so as to simplify robot controllers design. After having made a review of the current proposals, the handbook presents CoSARC, an original me- thodology covering the entirety of the development process of a robot software controller. The methodology is based on a control architecture model and a component-based language. Inspired of the historical proposals for hybrid architectures, the control architecture model constitutes the base of the development process. It defines a generic organization integrating a hierarchical vision of the control and it is based on abstract concepts independent of any application domain. The definition of an architecture is done according to the control architecture model, with the elements of a component-based language. These elements correspond to various categories of components : repre- sentation components dedicated to the description of the controller knowledge on the world it has to control, control components dedicated to the description of the activities of the robot, connection components dedica- ted to the description of the protocols governing the interactions between control components, configuration components dedicated to the description of the architecture and its deployment. One of the essential aspects of some of these components resides in the fact that their behavior is expressed in the form of an Object Petri net. The expressivity and the relevance of methodology are shown through a example of a mobile manipulator robot.
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https://tel.archives-ouvertes.fr/tel-00084351
Contributor : Robin Passama <>
Submitted on : Thursday, July 6, 2006 - 3:45:17 PM
Last modification on : Friday, October 23, 2020 - 4:51:47 PM
Long-term archiving on: : Monday, April 5, 2010 - 11:53:00 PM

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  • HAL Id : tel-00084351, version 1

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Robin Passama. Conception et développement de contrôleurs de robots - Une méthodologie basée sur les composants logiciels. Génie logiciel [cs.SE]. Université Montpellier II - Sciences et Techniques du Languedoc, 2006. Français. ⟨tel-00084351⟩

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