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Towards Re-orchestration of Real-Time Component Systems in Robotics

Vistein, Michael and Hoffmann, Alwin and Angerer, Andreas and Schierl, Andreas and Reif, Wolfgang (2017) Towards Re-orchestration of Real-Time Component Systems in Robotics. In: 1st IEEE International Conference on Robotic Computing, IRC 2017, pp. 60-68. Institute of Electrical and Electronics Engineers. IEEE International Conference on Robotic Computing (IRC), 10.-12. April 2017, Taichung, Taiwan. doi: 10.1109/IRC.2017.61. ISBN 978-1-5090-6724-4.

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Official URL: http://ieeexplore.ieee.org/document/7926515/


Over the last decade, there has been a trend towards component-based systems in robotics software engineering. Although the aspect of real-Time is important to control manipulators with high velocities or forces, it has often been neglected. In this paper, we present a runtime environment for real-Time component systems in robotics. It allows for a generic specification of computation tasks and employs a flexible, rule-based mechanism for composing and coordinating multiple components. Moreover, the runtime environment is capable of seamlessly re-orchestrating the composition of real-Time components at run-Time to adapt to new tasks-even when the robotics system is moving with high speed. For illustration, two examples are given. © 2017 IEEE.

Item URL in elib:https://elib.dlr.de/135496/
Document Type:Conference or Workshop Item (Speech)
Title:Towards Re-orchestration of Real-Time Component Systems in Robotics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Vistein, MichaelUNSPECIFIEDhttps://orcid.org/0000-0001-6998-0017133661168
Hoffmann, AlwinUniversität AugsburgUNSPECIFIEDUNSPECIFIED
Angerer, AndreasUniversität AugsburgUNSPECIFIEDUNSPECIFIED
Schierl, AndreasUniversität AugsburgUNSPECIFIEDUNSPECIFIED
Reif, WolfgangUniversität AugsburgUNSPECIFIEDUNSPECIFIED
Date:10 April 2017
Journal or Publication Title:1st IEEE International Conference on Robotic Computing, IRC 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 60-68
Publisher:Institute of Electrical and Electronics Engineers
Series Name:Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
Keywords:Component based systems Computation tasks Generic specifications High velocity Multiple components Robotics systems Rule-based mechanisms Runtime environments
Event Title:IEEE International Conference on Robotic Computing (IRC)
Event Location:Taichung, Taiwan
Event Type:international Conference
Event Dates:10.-12. April 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Structures and Materials (old)
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Automation and Production Technology
Deposited By: Vistein, Dr. Michael
Deposited On:10 Jul 2020 11:16
Last Modified:24 Apr 2023 13:31

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