{"id":1080,"date":"2019-04-08T16:29:28","date_gmt":"2019-04-08T15:29:28","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1080"},"modified":"2019-04-08T16:29:28","modified_gmt":"2019-04-08T15:29:28","slug":"designing-robotic-architectures-by-coordinating-different-modules-in-a-data-flow-graphical-paradigm","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1080","title":{"rendered":"Designing robotic architectures by coordinating different modules in a data-flow graphical paradigm"},"content":{"rendered":"<h4>Sebastian Buck, Andreas Zell, <strong>CS::APEX: A Framework for Algorithm Prototyping and Experimentation with Robotic Systems. Modeling Perception and High Level Robot Control with Activity Flow Graphs<\/strong>, Journal of Intelligent &#038; Robotic Systems (2019) 94:371\u2013387, <a href=\"https:\/\/doi.org\/10.1007\/s10846-018-0831-7\" target=\"_blank\">DOI: 10.1007\/s10846-018-0831-7<\/a>.<\/h4>\n<blockquote><p>Robotic systems differ drastically in their sensory capabilities, their computational power and their designated tasks. For<br \/>\nefficient algorithm development, however, we need to have a common modeling framework that enables us to generalize and<br \/>\nre-use existing solutions. A modular approach, which is coherent across different platforms, also allows faster prototyping<br \/>\nof new systems, given that existing functionality can be reused from already implemented modules. In this paper we develop<br \/>\na modeling framework based on data flow graphs that achieves the following goal: We first merge synchronous data flow<br \/>\nand reactive programming into hybrid flow graphs, where we explicitly model synchronous and asynchronous data flow.<br \/>\nThen we transfer concepts from finite-state machines to achieve a coherent framework which we call Activity Flow Graphs.<br \/>\nThe flow of activity enables us to model high level states directly in the data flow graph. The result is a single computation<br \/>\ngraph that can express both perception and high level control aspects of any robotic system. This theoretical foundation is<br \/>\nthe core of our open-source software framework CS::APEX, which allows the creation, manipulation and evaluation of<br \/>\nActivity Flow Graphs and enables rapid prototyping and experimentation and can be used with any robot supporting the<br \/>\nRobot Operating System (ROS). We then demonstrate the framework with two high level models for a fetch-and-delivery<br \/>\nrobot and a person following robot.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Sebastian Buck, Andreas Zell, CS::APEX: A Framework for Algorithm Prototyping and Experimentation with Robotic Systems. Modeling Perception and High Level <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1080\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[149,66],"tags":[406,295],"class_list":["post-1080","post","type-post","status-publish","format-standard","hentry","category-robotic-architectures","category-robotic-software","tag-data-flow-programming","tag-ros"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1080"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1080"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1080\/revisions"}],"predecessor-version":[{"id":1081,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1080\/revisions\/1081"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1080"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1080"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1080"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}