A Software Architecture For Modular Robotic Systems

Abstract

Research is described which is leading to the specification and development of a motion simulation and design environment for modular robotic systems which enables the implementation of widely applicable software processes for machine control. Current investigation is focused on defining models of application tasks in modular robotic systems. This work is based on the Real-time Control System (RCS) reference architecture proposed by researchers at the National Institute of Standards and Technology (NIST) which was designed to support motion planning and implementation. However, this architecture is modified in such a way that it supports the concept of multitasking and inter-process communication. The emphasis of work is on the hierarchical structuring of solutions, this to enable the design and control of distributed motion elements. Also discussed in this paper is a strategy for achieving sensor-based modularization of modular robotic systems in a manner which facilitates fast and efficient response to changes in the functional or environmental requirements. The paper explains how an application software architecture is unified with the open systems design approach known as Universal Machine Control (UMC), which has been devised and developed at Loughborough University to enable reuse to software and control system components.