Abstract
The recent progress in robotic hard- and software motivates novel, collaborative robot applications, where multiple robots jointly accomplish complex tasks like surveillance or rescue scenarios. Such applications impose two basic challenges: (1) the complexity of specifying collaborative behavior and (2) the need for a flexible and lightweight communication infrastructure for mobile robot teams. To address these challenges, we introduce NaoText, a role-based domain-specific language for specifying collaborative robot applications. It contributes dedicated abstractions to conveniently structure and implement collaborative behavior and thus, addresses the complexity challenge. To evaluate NaoText specifications, we introduce an interpreter architecture that is based on (REST) as a lightweight and flexible infrastructure for communication among robot teams. We exemplify the application of NaoText using an illustrative example of robots collaborating in a soccer game and discuss benefits and challenges for our approach compared to state-of-the-art in robot programming.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arumugam, R., Enti, V., Bingbing, L., Xiaojun, W., Baskaran, K., Kong, F.F., Kumar, A., Meng, K.D., Kit, G.W.: DAvinCi: A cloud computing framework for service robots. In: IEEE International Conference on Robotics and Automation (ICRA 2010), pp. 3084–3089 (2010)
Bachman, C., Daya, M.: The role concept in data models. In: Proceedings of the 3rd Conference on Very Large Data Bases (VLDB), pp. 464–476 (1977)
Baer, P.A., Reichle, R.: Communication and Collaboration in Heterogeneous Teams of Soccer Robots, ch.1, pp. 1–28. Tech Education and Publishing, Vienna (2007)
Baer, P.A., Reichle, R., Geihs, K.: The Spica Development Framework - Model-Driven Software Development for Autonomous Mobile Robots. In: Proceedings of International Conference on Intelligent Autonomous Systems (IAS 2010), pp. 211–220. IAS Society (2008)
Balzer, S., Gross, T.R., Eugster, P.T.: A Relational Model of Object Collaborations and Its Use in Reasoning About Relationships. In: Bateni, M. (ed.) ECOOP 2007. LNCS, vol. 4609, pp. 323–346. Springer, Heidelberg (2007)
Cardozo, E., Guimaraes, E.G., Rocha, L.A., Souza, R.S., Paolieri Neto, F., Pinho, F.: A platform for networked robotics. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taiwan, pp. 1000–1005 (2010)
Chaimowicz, L., Campos, M., Kumar, V.: Dynamic role assignment for cooperative robots. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2002), pp. 293–298. IEEE (2002)
Chen, Y., Bai, X.: On Robotics Applications in Service-Oriented Architecture. In: 28th International Conference on Distributed Computing Systems Workshops (ICDCS 2008), pp. 551–556 (2008)
Chen, Y., Du, Z., Garcia-Acosta, M.: Robot as a Service in Cloud Computing. In: IEEE International Workshop on Service-Oriented System Engineering, pp. 151–158 (2010)
Dvinge, N., Schultz, U., Christensen, D.: Roles and Self-Reconfigurable Robots. In: Roles 2007, pp. 17–26 (2007)
Edwards, R., Parker, L.E., Resseguie, D.R.: Robopedia: Leveraging Sensorpedia for Web-Enabled Robot Control. In: Proceedings of 8th IEEE International Conference on Pervasive Computing and Communications Workshops (PERCOM 2010), pp. 183–188 (2010)
Erl, T.: Service-oriented architecture: Concepts, Technology, and Design. Prentice Hall PTR (2005)
Ernst, M., Kaplan, C., Chambers, C.: Predicate Dispatching: A Unified Theory of Dispatch. In: Jul, E. (ed.) ECOOP 1998. LNCS, vol. 1445, pp. 186–211. Springer, Heidelberg (1998)
Flückiger, L., To, V., Utz, H.: Service-Oriented Robotic Architecture Supporting a Lunar Analog Test. In: International Symposium on Artificial Intelligence, Robotics, and Automation in Space, iSAIRAS (2008)
Guarino, N., Welty, C.A.: A Formal Ontology of Properties. In: Dieng, R., Corby, O. (eds.) EKAW 2000. LNCS (LNAI), vol. 1937, pp. 97–112. Springer, Heidelberg (2000)
Ha, Y.-G., Sohn, J.-C., Cho, Y.-J.: Service-Oriented Integration of Networked Robots with Ubiquitous Sensors and Devices using the Semantic Web Services Technology. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 3947–3952 (2005)
Herrmann, S.: A Precise Model for Contextual Roles: The Programming Language ObjectTeams/Java. Applied Ontology 2(2), 181–207 (2007)
Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source Robot Operating System. In: ICRA Workshop on Open Source Software (2009)
Reenskaug, T., Wold, P., Lehne, O.: Working with objects - The OOram Software Engineering Method. In: TASKON (1995)
Remy, S.L., Blake, M.B.: Distributed Service-Oriented Robotics. IEEE Internet Computing 15, 70–74 (2011)
Riehle, D., Gross, T.: Role model based framework design and integration. In: Proceedings of the 13th ACM SIGPLAN Conference on Object-oriented Programming, Systems, Languages, and Applications (OOPSLA 1998), pp. 117–133. ACM, New York (1998)
Schultz, U.P., Christensen, D.J., Stoy, K.: A domain-specific language for programming self-reconfigurable robots. In: Workshop on Automatic Program Generation for Embedded Systems (APGES), pp. 28–36 (October 2007)
Steimann, F.: On the representation of roles in object-oriented and conceptual modelling. IEEE Transactions on Data and Knowledge Engineering 35(1), 83–106 (2000)
Trifa, V.M., Cianci, C.M., Guinard, D.: Dynamic Control of a Robotic Swarm using a Service-Oriented Architecture. In: 13th International Symposium on Artificial Life and Robotics, AROB 2008 (2008)
Wu, B., Zhou, B.-H., Xi, L.-F.: Remote multi-robot monitoring and control system based on MMS and web services. Industrial Robot: An International Journal 34, 225–239 (2007)
Yokota, K., Ozaki, K., Watanabe, N., Matsumoto, A., Koyama, D., Ishikawa, T., Kawabata, K., Kaetsu, H., Asama, H.: UTTORI United: Cooperative Team Play Based on Communication. In: Asada, M., Kitano, H. (eds.) RoboCup 1998. LNCS (LNAI), vol. 1604, pp. 479–484. Springer, Heidelberg (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Götz, S. et al. (2012). A Role-Based Language for Collaborative Robot Applications. In: Hähnle, R., Knoop, J., Margaria, T., Schreiner, D., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification, and Validation. ISoLA 2011. Communications in Computer and Information Science, vol 336. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34781-8_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-34781-8_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34780-1
Online ISBN: 978-3-642-34781-8
eBook Packages: Computer ScienceComputer Science (R0)