Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/48934
Title: Aneka : A control software framework for autonomous robotic systems
Authors: ARUN RAJ VASUDEV
Keywords: Autonomous robotic system; machine vision; control software
Issue Date: 9-Jul-2006
Source: ARUN RAJ VASUDEV (2006-07-09). Aneka : A control software framework for autonomous robotic systems. ScholarBank@NUS Repository.
Abstract: Control software in intelligent autonomous systems has a role that is vastly differentfrom that of merely implementing numerical algorithms. The classical reference signal isreplaced by a higher-level goal (or goals) that the controller is to accomplish, and severallayers - varying from lower level to higher level automation - have to be used to implementthe controller. Compounding the difficulties is the fact that software traditionally is seenas an information processing tool, and concepts such as stability and system response arenot deemed relevant in a software context. There is a dearth of system-theoretic toolsand concepts for effectively using intelligent software in feedback loops of physical systems.This thesis discusses Aneka (meaning a??severala?? in Sanskrit), an architectural frameworkfor control software used in autonomous robotic systems. The thesis proposes modelingthe most common software components in autonomous robots based on classical conceptssuch as systems and signals, making such concepts relevant in a software context. A referenceimplementation on a multi-robot soccer system is provided as an example of howthe ideas could work in practice, though the approach taken itself can be translated toseveral robotic domains.The framework along with its reference implementation demonstrates how perception,planning and action modules can be combined with several ancillary components such assimulators and interpreted programming environments in autonomous systems. Besidesproviding default implementations of the various modules, the framework also provides asolid foundation for future research work in machine vision and multi-robot control. Thethesis also discusses how issues such as system response and stability can be relevant inautonomous robots.
URI: http://scholarbank.nus.edu.sg/handle/10635/48934
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