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RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks

Brunner, Sebastian Georg and Steinmetz, Franz and Belder, Rico and Dömel, Andreas (2016) RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks. In: IEEE International Conference on Intelligent Robots and Systems, pp. 3283-3290. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea. DOI: 10.1109/IROS.2016.7759506

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Official URL: http://ieeexplore.ieee.org/document/7759506/

Abstract

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.

Item URL in elib:https://elib.dlr.de/112067/
Document Type:Conference or Workshop Item (Speech)
Title:RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthors 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
Date:2016
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/IROS.2016.7759506
Page Range:pp. 3283-3290
Status:Published
Keywords:autonomous robotic system, task programming, mission planning, software engineering, system architecture
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Daejeon, South Korea
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Autonomie & Geschicklichkeit
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Brunner, Sebastian
Deposited On:19 May 2017 14:44
Last Modified:31 Jul 2019 20:09

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