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Brunner, Sebastian Georg und Steinmetz, Franz und Belder, Rico und Dömel, Andreas (2016) RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea.
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Kurzfassung
Abstract— Robotic tasks are becoming increasingly complex, and with this also the robotic systems. This requires new tools to manage this complexity and to orchestrate the systems to fulfill demanding autonomous tasks. For this purpose, we developed a new graphical tool targeting at the creation and execution of robotic tasks, called RAFCON. These tasks are described in hierarchical state machines supporting concurrency. A formal notation of this concept is given. The tool provides many debugging mechanisms and a GUI with a graphical editor, allowing for intuitive visual programming and fast prototyping. The application of RAFCON for an autonomous mobile robot in the SpaceBotCamp competition has already proved to be successful.
| elib-URL des Eintrags: | https://elib.dlr.de/109245/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks | ||||||||||||||||||||
| Autoren: |
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| Datum: | 2016 | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | autonomous robotic system, task programming, mission planning, software engineering, system architecture | ||||||||||||||||||||
| Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||
| Veranstaltungsort: | Daejeon, South Korea | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Autonomie & Geschicklichkeit [SY] | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik | ||||||||||||||||||||
| Hinterlegt von: | Brunner, Sebastian | ||||||||||||||||||||
| Hinterlegt am: | 20 Dez 2016 10:52 | ||||||||||||||||||||
| Letzte Änderung: | 29 Mär 2023 00:31 |
Verfügbare Versionen dieses Eintrags
- RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks. (deposited 20 Dez 2016 10:52) [Gegenwärtig angezeigt]
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