Abstract
This article describes a software development toolkit for programming mobile robots, that has been used on different platforms and for different robotic applications. We address design choices, implementation issues and results in the realization of our robot programming environment, that has been devised and built from many people since 1998. We believe that the proposed framework is extremely useful not only for experienced robotic software developers, but also for students approaching robotic research projects.
Highlights
Research on developing autonomous agents, and in particular mobile robots, has been carried out within the field of Artificial Intelligence and Robotics from many different perspectives and for several different kinds of applications, and the development of robotic applications is receiving increasing attention in many laboratories
In this article we have presented a toolkit (SPQR-RDK) for developing modular multiplatform robotic applications, that has been designed for providing modularity, effectiveness and efficiency
Such a framework has been tested in different contexts: robotic soccer, robot navigation and mapping, and it is currently used in some other robotic projects. This RDK allows a group of programmers to design and implement the modules composing a multi-platform robotic application, having both remote control and remote debugging capabilities, with a very small effort, by using a software engineering approach and by focusing on the semantics of the information exchanged among the modules
Summary
Research on developing autonomous agents, and in particular mobile robots, has been carried out within the field of Artificial Intelligence and Robotics from many different perspectives and for several different kinds of applications, and the development of robotic applications is receiving increasing attention in many laboratories. The main difference with other approches discussed above is the support that our middle-ware provides for task development, in terms of hardware abstraction, dynamic information sharing among modules and remote inspection that are useful for efficient development of robotic applications. We have used our framework for developing different kinds of robotic applications: i) RoboCup soccer ii) RoboCup Rescue iii) RoboCare (Bahadori et al, 1995) - a project for developing a multi robot system for assistance of elderly people in a health care house The development of these applications has given us a real testbed for evaluating the proposed RDK and, by a comparison with the development of similar applications by using a different development environment (in particular, we refer to the robotic soccer application with Sony AIBO robots by using OPEN-R SDK), we have experimented the effectiveness of our toolkit
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