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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), 2017-04-10 - 2017-04-12, 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/
Abstract
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/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
| Title: | Towards Re-orchestration of Real-Time Component Systems in Robotics | ||||||||||||||||||||||||
| Authors: |
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| 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 SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||
| DOI: | 10.1109/IRC.2017.61 | ||||||||||||||||||||||||
| 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 | ||||||||||||||||||||||||
| ISBN: | 978-1-5090-6724-4 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| 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 Start Date: | 10 April 2017 | ||||||||||||||||||||||||
| Event End Date: | 12 April 2017 | ||||||||||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||||||||||
| 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 2024 20:38 |
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