Generalizing robot application development: operating system and framework abstractions

robots;application framework;operating system (OS);user interface (UI);audit logging;app store

Kravchenko, Aleksandar ; King ; Samuel T.

关键词: robots;    application framework;    operating system (OS);    user interface (UI);    audit logging;    app store;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/34462/Kravchenko_Aleksandar.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

As general-purpose robots begin tofind their way into the household and workplace, there will be a demand for software to run on these robots. We foresee the proliferation of robot apps that use a common set of abstractions to allow them to function on a variety of hardware platforms. In this paper, we introduce a robot operating system to support these apps and we detail the framework abstractions that it provides. We present many lessons learned from developing and debugging a number of such apps, and discuss a novel user-interface concept wherein we abstract the interaction model to allow apps to interact with users via a remote or voice interface in order to accomplish their goals. We present our audit logging infrastructure and the utility it provides to both application developers and users. We show that our framework allows a robot to effectively deal with challenges, such as user authentication and interaction. We demonstrate a simple bartender app to fetch drink orders for students, and it is successfully able to deliver them in 9/10 trials in real-world conditions.