ERSP: a software platform and architecture for the service robotics industry
In this paper we describe the need for, and the characteristics of a software architecture for commercial robotic products. We describe the Evolution Robotics Software Platform (ERSP/spl trade/), which provides a commercial-grade software architecture for mobile robots. The architecture has been des...
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| creator | Munich, M.E. Ostrowski, J. Pirjanian, P. |
| description | In this paper we describe the need for, and the characteristics of a software architecture for commercial robotic products. We describe the Evolution Robotics Software Platform (ERSP/spl trade/), which provides a commercial-grade software architecture for mobile robots. The architecture has been designed to be modular, scalable, lightweight, portable, and reusable. It follows a hybrid model of data flow, combining behavior-based processing modules for real-time reactions with event-based task planning routines. We provide a detailed description of the main architectural components and some basic usage studies. We also highlight areas where compromises have been made and for which continuing work is needed. |
| doi_str_mv | 10.1109/IROS.2005.1545468 |
| format | Conference Proceeding |
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We also highlight areas where compromises have been made and for which continuing work is needed.</description><subject>Computer architecture</subject><subject>Computer industry</subject><subject>Costs</subject><subject>Hardware</subject><subject>Mobile robots</subject><subject>Process planning</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Service Robotics Industry</subject><subject>Service robots</subject><subject>Software architecture</subject><subject>Software Platform</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>0780389123</isbn><isbn>9780780389120</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kMtKAzEYhYMXsNY-gLjJC8yYy2QmcSelamGg0uq6_JP8oZG2U5JU6ds7YPFsPjgfnMUh5J6zknNmHufLxaoUjKmSq0pVtb4gI8GVLJiu60tyyxrNpDZcyKt_ofQNmaT0xYZIoyrejEg7W67enyjQ1Pv8AxHpYQvZ93FHYe8oRLsJGW0-DmZoad4gTRi_g0Ua-67PwSYa9u6YcjzdkWsP24STM8fk82X2MX0r2sXrfPrcFoE3KhcSjPHSScdZ57zrvDVN3aDxDmorDOjKV5oLQFFbQDRKdB0w6ZB751nVyDF5-NsNiLg-xLCDeFqfj5C_fVtRZQ</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>Munich, M.E.</creator><creator>Ostrowski, J.</creator><creator>Pirjanian, P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2005</creationdate><title>ERSP: a software platform and architecture for the service robotics industry</title><author>Munich, M.E. ; Ostrowski, J. ; Pirjanian, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-3a99f3d3d10bdfdbfc9767e9fda6c29a84f4812ae26caee952bba03de1fdf0473</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Computer architecture</topic><topic>Computer industry</topic><topic>Costs</topic><topic>Hardware</topic><topic>Mobile robots</topic><topic>Process planning</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>Service Robotics Industry</topic><topic>Service robots</topic><topic>Software architecture</topic><topic>Software Platform</topic><toplevel>online_resources</toplevel><creatorcontrib>Munich, M.E.</creatorcontrib><creatorcontrib>Ostrowski, J.</creatorcontrib><creatorcontrib>Pirjanian, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Munich, M.E.</au><au>Ostrowski, J.</au><au>Pirjanian, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>ERSP: a software platform and architecture for the service robotics industry</atitle><btitle>2005 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2005</date><risdate>2005</risdate><spage>460</spage><epage>467</epage><pages>460-467</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>0780389123</isbn><isbn>9780780389120</isbn><abstract>In this paper we describe the need for, and the characteristics of a software architecture for commercial robotic products. We describe the Evolution Robotics Software Platform (ERSP/spl trade/), which provides a commercial-grade software architecture for mobile robots. The architecture has been designed to be modular, scalable, lightweight, portable, and reusable. It follows a hybrid model of data flow, combining behavior-based processing modules for real-time reactions with event-based task planning routines. We provide a detailed description of the main architectural components and some basic usage studies. We also highlight areas where compromises have been made and for which continuing work is needed.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2005.1545468</doi><tpages>8</tpages></addata></record> |
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| ispartof | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, p.460-467 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computer architecture Computer industry Costs Hardware Mobile robots Process planning Robot kinematics Robot sensing systems Service Robotics Industry Service robots Software architecture Software Platform |
| title | ERSP: a software platform and architecture for the service robotics industry |
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