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Real-time software for mobile robot simulation and experimentation in cooperative environments

AuthorsCorominas Murtra, Andreu ; Mirats-Tur, Josep M. ; Sandoval-Torres, Oscar ; Sanfeliu, Alberto
KeywordsMobile robot software
Sensor networks
Issue Date2008
CitationSimulation, Modeling, and Programming for Autonomous Robots: 135-146 (2008)
SeriesLecture Notes in Computer Science 5325
AbstractThis paper presents the software being developed at IRI (Institut de Robotica i Informatica Industrial) for mobile robot autonomous navigation in the context of the European project URUS (Ubiquitous Robots in Urban Settings). In order that a deployed sensor network and robots operating in the environment cooperate in terms of information sharing, main requirements are real-time performance and the integration of information coming from remote machines not onboard the robot. Moreover, the project involves a group of eleven industrial and academic partners, therefore software integration issues are critical. The proposed software framework is based on the YARP middleware and has been tested in real and simulated experiments.
DescriptionTrabajo presentado al 1st SIMPAR celebrado en Venecia del 3 al 6 de noviembre de 2008.
Publisher version (URL)http://dx.doi.org/10.1007/978-3-540-89076-8_16
Appears in Collections:(IRII) Libros y partes de libros
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