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Related Experiment Video

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Software patterns and data structures for the runtime coordination of robots, with a focus on real-time execution

Maria I Artigas1,2, Rômulo T Rodrigues1,2, Lars Vanderseypen1

  • 1Department of Mechanical Engineering, KU Leuven, Leuven, Belgium.

Frontiers in Robotics and AI
|September 19, 2024
PubMed
Summary
This summary is machine-generated.

This study presents software patterns and data structures for coordinated robot activity execution. An implementation of Petri nets enables real-time, distributed control for enhanced navigation tasks.

Keywords:
Petri netcoordinationfinite state machinemulti-robotreal-timeshared memory

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Area of Science:

  • Robotics
  • Software Engineering
  • Distributed Systems

Background:

  • Coordinated execution of software activities is crucial for complex robotic systems.
  • Existing methods may lack efficiency or flexibility for real-time, distributed control.
  • Novel patterns and data structures are needed to address these challenges.

Purpose of the Study:

  • To introduce and validate new software patterns and data structures for coordinated software activity execution.
  • To present a real-time Petri net implementation for single-robot and multi-robot distributed systems.
  • To demonstrate the effectiveness of these components in coordinated navigation tasks.

Main Methods:

  • Development of software patterns: registration, acquire-release, and cache awareness.
  • Implementation of data structures: Petri nets, finite state machines, and protocol flag arrays.
  • Creation of a real-time Petri net system with separated event firing and handling for distributed deployment.
  • Experimental validation in coordinated navigation, task execution, control, perception, and decision-making scenarios.

Main Results:

  • The introduced software patterns and data structures effectively support coordinated execution.
  • The Petri net implementation achieves real-time performance in shared memory.
  • Separation of event firing and handling facilitates distributed deployment across multiple robots.
  • Experimental validation confirmed successful application in coordinated navigation and related tasks.

Conclusions:

  • The proposed software patterns and data structures provide a robust framework for coordinated robotic activities.
  • The real-time, distributed Petri net implementation enhances the capabilities of individual and multiple robots.
  • This work contributes to more efficient and flexible robotic system design, particularly for navigation.