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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), 2016-10-09 - 2016-10-14, 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/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks | ||||||||||||||||||||
| Authors: |
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| 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 | ||||||||||||||||||||
| Event Start Date: | 9 October 2016 | ||||||||||||||||||||
| Event End Date: | 14 October 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: | 19 May 2017 14:44 | ||||||||||||||||||||
| Last Modified: | 07 Jun 2024 10:42 |
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