リモートブレイン方式におけるソフトウェアプラットフォームの構造化と実現

概要

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This paper describes a software framework which can support different types of bodies and behaviors with different processing times. The system we propose consists of 3 parts, <I>“Mother, Brain, Sensor & Actuator”</I>. Brain consists of robot behavior programs and their supporting libraries, and Sensor & Actuator consists of sensor processing and actuator control system. Mother consists of tools to produce and evolve Brain programs.<BR>In building tools and libraries for such a platform you are faced with two major problems. One is, system architecture will always have a trade-off relationship with “extensibility” and “shareablity” . The other problem you encounter is the difference in execution time between the low-level real-time reactive environment and the high-level behavioral software.<BR>In this paper we describe the methods and the software environment that we built which overcomes the problems mentioned above, based on the remote-brained robotic approach. This system enables us to develop flexible multiprocess networks made of processes with differing computing times which in turn enables the contruction of various brain architectures.
社団法人日本ロボット学会の論文
1997-05-15