ADE: A Framework for Robust Complex Robotic Architectures

Robots that can interact naturally with humans require the integration and coordination of many different components with heavy computational demands. We argue that an architecture framework with facilities for dynamic, reliable, fault-recovering, remotely accessible, distributed computing is needed for the development and operation of applications that support and enhance human activities and capabilities. We describe a robotic architecture development system, called ADE, that is built on top of a multi-agent system in order to provide all of the above features. Specifically, we discuss support for autonomic computing in ADE, briefly comparing it to related features of other commonly used robotic systems. We also report our experiences with ADE in the development of an architecture for an intelligent robot assistant and provide experimental results demonstrating the system's utility

Authors

• James F. Kramer
• Matthias Scheutz

Keywords

• Robustness
• Intelligent robots
• Robot kinematics
• Computer architecture
• Robot sensing systems
• Human robot interaction
• Distributed computing
• Artificial intelligence
• Laboratories
• Computer science
• Complex Robot
• Robot Architecture
• Robotic System
• Multi-agent Systems
• Development Of Architecture
• Robotic Assistance
• Architectural Framework
• Functional Components
• Natural Language
• Autonomic System
• Sensory Processing
• Speech Recognition
• Fault-tolerant
• Middle Level
• Software Components
• Obstacle Avoidance
• Recovery Mechanisms
• Failure Detection
• Failure Recovery
• Human Robot
• Natural Language Understanding
• Robust Operation
• Redundant Components
• Dynamic Reconfiguration
• Hardware Devices
• Preferred Host
• Affect Recognition
• Local Registration