Event-oriented Incremental Component Construction

Lütkebohle I, Wachsmuth S (2012)
In: Towards Service Robots for Everyday Environments. Prassler E, Burgard W, Handmann U, Haschke R, Lawitzky G, Nebel B, Nowak W, Plöger P, Reiser U, Zöllner M (Eds); Springer Tracts in Advanced Robotics ; 76. Berlin: Springer: 445-456.

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Prassler, Erwin ; Burgard, Wolfram ; Handmann, Uwe ; Haschke, Robert ; Lawitzky, Gisbert ; Nebel, Bernhard ; Nowak, Walter ; Plöger, Paul ; Reiser, Uli ; Zöllner, Markus
Abstract
Understanding the prerequisites of an effective and intuitive human-robot teaching situation requires an experimental approach to human-robot interaction that includes cross-platform variation as well as fast inter- and intra-component change. Although re-use has been significantly increased over the last years, the complexity faced in robotic systems is still leading to frequent lock-in rather than change. Today, most approaches address the complexity in a robot’s software system by decomposition into components, coupled through middleware. However, the integration of core algorithms, utility libraries and middleware into a component is itself becoming more complex and, due to the embedded external references, can create lock-in. To reduce both lock-in and complexity, we have developed a component construction framework based on modelling the various building blocks as directed, typed graphs. These graphs may be (re-)assembled efficiently into components. The approach has been tested on diverse applications, from device drivers to robot behavior generation and we report the experience gained. Furthermore, we propose a decomposition strategy for converting legacy components into such graphs on a coarse level. The strategy is based on principles from event-based systems to optimize the re-usability of the resulting sub-graphs.
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Lütkebohle I, Wachsmuth S. Event-oriented Incremental Component Construction. In: Prassler E, Burgard W, Handmann U, et al., eds. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics ; 76. Berlin: Springer; 2012: 445-456.
Lütkebohle, I., & Wachsmuth, S. (2012). Event-oriented Incremental Component Construction. In E. Prassler, W. Burgard, U. Handmann, R. Haschke, G. Lawitzky, B. Nebel, W. Nowak, et al. (Eds.), Springer Tracts in Advanced Robotics ; 76. Towards Service Robots for Everyday Environments (pp. 445-456). Berlin: Springer. doi:10.1007/978-3-642-25116-0_31
Lütkebohle, I., and Wachsmuth, S. (2012). “Event-oriented Incremental Component Construction” in Towards Service Robots for Everyday Environments, Prassler, E., Burgard, W., Handmann, U., Haschke, R., Lawitzky, G., Nebel, B., Nowak, W., Plöger, P., Reiser, U., and Zöllner, M. eds. Springer Tracts in Advanced Robotics ; 76 (Berlin: Springer), 445-456.
Lütkebohle, I., & Wachsmuth, S., 2012. Event-oriented Incremental Component Construction. In E. Prassler, et al., eds. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics ; 76. Berlin: Springer, pp. 445-456.
I. Lütkebohle and S. Wachsmuth, “Event-oriented Incremental Component Construction”, Towards Service Robots for Everyday Environments, E. Prassler, et al., eds., Springer Tracts in Advanced Robotics ; 76, Berlin: Springer, 2012, pp.445-456.
Lütkebohle, I., Wachsmuth, S.: Event-oriented Incremental Component Construction. In: Prassler, E., Burgard, W., Handmann, U., Haschke, R., Lawitzky, G., Nebel, B., Nowak, W., Plöger, P., Reiser, U., and Zöllner, M. (eds.) Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics ; 76. p. 445-456. Springer, Berlin (2012).
Lütkebohle, Ingo, and Wachsmuth, Sven. “Event-oriented Incremental Component Construction”. Towards Service Robots for Everyday Environments. Ed. Erwin Prassler, Wolfram Burgard, Uwe Handmann, Robert Haschke, Gisbert Lawitzky, Bernhard Nebel, Walter Nowak, Paul Plöger, Uli Reiser, and Markus Zöllner. Berlin: Springer, 2012. Springer Tracts in Advanced Robotics ; 76. 445-456.
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