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RAFCON: a Graphical Tool for Task Programming and Mission Control

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, Leipzig, Germany.

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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/
Document Type:Conference or Workshop Item (Poster)
Title:RAFCON: a Graphical Tool for Task Programming and Mission Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Brunner, Sebastian GeorgSebastian.Brunner (at) dlr.deUNSPECIFIED
Steinmetz, FranzFranz.Steinmetz (at) dlr.deUNSPECIFIED
Belder, RicoRico.Belder (at) dlr.deUNSPECIFIED
Dömel, Andreasandreas.doemel (at) dlr.deUNSPECIFIED
Journal or Publication Title:RoboCup 2016: Robot World Cup XX
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Series Name:Lecture Notes in Computer Science
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
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:20 Dec 2016 10:49

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