Brunner, Sebastian Georg and Steinmetz, Franz and Belder, Rico and Dömel, Andreas (2016) RAFCON: a Graphical Tool for Task Programming and Mission Control. In: RoboCup 2016: Robot World Cup XX. Springer. RoboCup 2016: Robot Soccer World Cup XX, 2016-06-30 - 2016-07-04, Leipzig, Germany. doi: 10.1007/978-3-319-68792-6_29.
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Abstract
Abstract. There are many application fields for robotic systems in- cluding service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools to efficiently program hetero- geneous robotic systems. Therefore, we created RAFCON, a graphical tool to develop robotic tasks and to be used for mission control by re- motely monitoring the execution of the tasks. To define the tasks, we use state machines which support hierarchies and concurrency. Together with a library concept, even complex scenarios can be handled gracefully. RAFCON supports sophisticated debugging functionality and tightly in- tegrates error handling and recovery mechanisms. A GUI with a powerful state machine editor makes intuitive, visual programming and fast pro- totyping possible. We demonstrated the capabilities of our tool in the SpaceBotCamp national robotic competition, in which our mobile robot solved all exploration and assembly challenges fully autonomously. It is therefore also a promising tool for various RoboCup leagues.
Item URL in elib: | https://elib.dlr.de/109241/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||||||
Title: | RAFCON: a Graphical Tool for Task Programming and Mission Control | ||||||||||||||||||||
Authors: |
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Date: | 2016 | ||||||||||||||||||||
Journal or Publication Title: | RoboCup 2016: Robot World Cup XX | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
DOI: | 10.1007/978-3-319-68792-6_29 | ||||||||||||||||||||
Publisher: | Springer | ||||||||||||||||||||
Series Name: | Lecture Notes in Computer Science | ||||||||||||||||||||
Status: | Published | ||||||||||||||||||||
Keywords: | autonomous robotic system, task programming, mission planning, software engineering, system architecture | ||||||||||||||||||||
Event Title: | RoboCup 2016: Robot Soccer World Cup XX | ||||||||||||||||||||
Event Location: | Leipzig, Germany | ||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||
Event Start Date: | 30 June 2016 | ||||||||||||||||||||
Event End Date: | 4 July 2016 | ||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
DLR - Research theme (Project): | R - Autonomy & Dexterity [SY] | ||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | ||||||||||||||||||||
Deposited By: | Brunner, Sebastian | ||||||||||||||||||||
Deposited On: | 20 Dec 2016 10:49 | ||||||||||||||||||||
Last Modified: | 04 Jun 2024 13:34 |
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