Implementations of FroboMind using the Robot Operating System framework

Søren Hundevadt Nielsen, Anders Bøgild, Kjeld Jensen, Keld Kjærhus Bertelsen, Rasmus Nyholm Jørgensen

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Abstract

Conclusion
The work provides a highly domain specific architecture in form of the field robotic vehicle conceptual architecture FroboMind (Jensen et al. 2011). This architecture is currently, as a work in progress, being implemented in ROS to evaluate how well FroboMind maps into ROS.
A prominent feature in both ROS and the conceptual architecture FroboMind is the well defined interfaces/relations between components (topics and nodes in ROS). As ROS encourages well defined dataflows through ROS-topics, one of the major tasks has indeed been to define these interfaces.
Since ROS imposes no architectural constraints ROS has shown well suited for implementation of the proposed FroboMind architecture, which as a conceptual architecture provides a logical functional-decomposition and serves to identify and modularize key functionality and the relation between these modules.
Original languageEnglish
Publication date30. Jun 2011
Number of pages4
Publication statusPublished - 30. Jun 2011
EventNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference - Hammerum - Herning, Denmark
Duration: 30. Jun 20111. Jul 2011

Seminar

SeminarNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference
Country/TerritoryDenmark
CityHammerum - Herning
Period30/06/201101/07/2011

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