Journal Article Open Access

The RoCS Framework to Support the Development of Autonomous Robots

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Authors Leonardo Ramos Gabriel Lisbôa Guimarães Divino Guilherme Cano Lopes Breno Bernard Nicolau de França Leonardo Montecchi Esther Luna Colombini
Abstract
With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference software architectures and, although most robot architectures available in the literature facilitate the creation process with their modularity, existing solutions do not provide development guidance on reusing existing modules. Based on the well-known IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective. To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework forautonomousrobots. We successfully tested the framework under simulated robotics scenarios that mimic typical robotics tasks and highlight the framework reuse capability. Finally, we understand the proposed framework needs further experimental evaluation, particularly, assessments on real-world scenarios.
DOI 10.5753/jserd.2019.470
Journal Journal of Software Engineering Research and Development
Volume 7
Month December
Year 2019
Pages 10:1-10:14
Publisher Brazilian Computing Society
 
 

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