Publication: Diseño software de una arquitectura de control de robots autónomos inteligentes : aplicación a un robot social
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2010-07
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2010-07-20
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Abstract
El objetivo principal de esta tesis es el diseño y desarrollo de un conjunto de herramientas para la realización de una arquitectura de control de un robot social. Esta realización debe permitir la apropiación de la tecnología necesaria para lograr el control efectivo y eficiente de los componentes lógicos y físicos que conforman un robot. El componente principal de la arquitectura es una habilidad, definida en la arquitectura Automático-Deliberativa AD, desarrollada en el grupo de investigación RoboticsLab de la Universidad Carlos III de Madrid. En este trabajo se presentan los siguientes elementos: un sistema distribuido de emisión y captura de eventos, un sistema de memoria a corto plazo para la distribución de información, un tipo de dato abstracto que permite implementar habilidades, y un secuenciador capaz de interpretar en tiempo de ejecución secuencias de control. Todos los componentes operan de forma débilmente acoplada, y pueden ejecutarse en uno o varios ordenadores interconectados mediante el protocolo TCP/IP. La operación concurrente y paralela de los componentes presentados abre la posibilidad de ejecutar comportamientos previamente establecidos o definidos en línea por un sistema sintetizador de secuencias de control. Finalmente cabe destacar que los componentes han sido totalmente diseñados, desarrollados y probados en el robot social Maggie, y la integración de éstos permiten la construcción de la Arquitectura Automática Deliberativa de una manera modular, fácil de integrar y de depurar.--------------------------------------------------------------------------------------------------------------------------------------------------------------
The main objective of this thesis is the design and development of a set of tools for the realization of a control architecture of a social robot. This realization should allow the appropriation of technology for effective and eficient control of software and hardware components that make up a robot. The main component of the architecture is a skill, as defined in the Automatic-Deliberative AD architecture, developed in the research group RoboticsLab Carlos III University of Madrid. In this paper, the following elements: a distributed system of emission and capture of events, a system of short-term memory for the distribution of information, an abstract data type that allows to implement skills, and a sequencer capable of playing time implementing control sequences. All components operate in a loosely coupled, and can run on one or more computers interconnected by TCP/IP. Concurrent and parallel operation of the components presented opens the possibility of implementing pre-established behavior online or defined by a system of control sequences synthesizer. Finally it is noted that the components have been fully designed, developed and tested in the social robot Maggie, and the integration of these allow the construction of the Automatic Architecture Deliberative in a modular, easy to integrate and debug.
The main objective of this thesis is the design and development of a set of tools for the realization of a control architecture of a social robot. This realization should allow the appropriation of technology for effective and eficient control of software and hardware components that make up a robot. The main component of the architecture is a skill, as defined in the Automatic-Deliberative AD architecture, developed in the research group RoboticsLab Carlos III University of Madrid. In this paper, the following elements: a distributed system of emission and capture of events, a system of short-term memory for the distribution of information, an abstract data type that allows to implement skills, and a sequencer capable of playing time implementing control sequences. All components operate in a loosely coupled, and can run on one or more computers interconnected by TCP/IP. Concurrent and parallel operation of the components presented opens the possibility of implementing pre-established behavior online or defined by a system of control sequences synthesizer. Finally it is noted that the components have been fully designed, developed and tested in the social robot Maggie, and the integration of these allow the construction of the Automatic Architecture Deliberative in a modular, easy to integrate and debug.
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Robótica, Robots sociales, Arquitectura de control