Artigo em periódicoOpen Access

Software patterns and data structures for the runtime coordination of robots, with a focus on real-time execution performance

ARTIGAS, MARIA I.2024ARTIGAS, MARIA I.; Rodrigues, Rômulo T.; VANDERSEYPEN, LARS; BRUYNINCKX, HERMAN

2024 • Frontiers in Robotics and AI • 2 citações

Resumo

This paper introduces software patterns (registration, acquire-release, and cache awareness) and data structures (Petri net, finite state machine, and protocol flag array) to support the coordinated execution of software activities (also called “components” or “agents”). Moreover, it presents and tests an implementation for Petri nets that supports real-time execution in shared memory for deployment inside one individual robot and separates event firing and handling, enabling distributed deployment between multiple robots. Experimental validation of the introduced patterns and data structures is performed within the context of activities for task execution, control and perception, and decision making for an application on coordinated navigation.

Autoria

Autores do grupo (1)

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Rômulo Teixeira Rodrigues

Pesquisador

palavras-chave

Palavras-chave

design patternsrobot coordinationreal-time executionPetri netsfinite automatashared memorydistributed deploymentevent handlingmulti-robot navigationtask executiondecision-making

Volume

Páginas

Editora

Frontiers Media SA

Status

Published

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