Robodaemon -a device independent, network-oriented, modular mobile robot controller

We discuss a software environment for multi-robot, multi-platform mobile robot control and simulation. Like others, we have observed that mobile robotics research is greatly facilitated by the availability of a suitable simulator for both vehicle kinematics as well as sensing, and have created an environment that permits this while allowing a large measure of device independence. By using a multiprocessor internet-based architecture, our platform permits multiple users to use a variety of programming interfaces (visual, script-based or various application programming interfaces (API's)) to rapidly prototype methods to control multiple heterogeneous robots both in simulation and in real-world settings. We present an overview of our architecture and discuss its future directions.

Authors

• Gregory Dudek
• Robert Sim

Keywords

• Page description languages
• Mobile robots
• Robot control
• Robot sensing systems
• Computer architecture
• Hardware
• Robot programming
• Application software
• Software prototyping
• Software packages
• Mobile Robot
• Application Programming Interface
• Mobility Control
• Simulated Robot
• Usability
• Programming Language
• Robotic System
• Line Segment
• Quantization Error
• Debugging
• Localizer
• Sensor Model
• Hardware Resources
• Robot Model
• Laser Ranging
• Real Robot
• Sensor Properties
• Error Handling