A decoupled three-layered architecture for service robotics in intelligent environments
R. Rasch, A. Pörtner, M. Hoffmann, M. König, in: Association for Computing Machinery, New York, NY (Ed.), Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16, ACM Press, New York, New York, USA, 2016, pp. 1–8.
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Konferenzbeitrag
| Veröffentlicht
| Englisch
Autor*in
herausgebende Körperschaft
Association for Computing Machinery, New York, NY
Einrichtung
Abstract
To enable the usage of service robots in a smart environment we have developed a decoupled three-layered architecture. The architecture is separated into three parts: hardware abstraction layer, domain level as well as control and collaboration layer. The hardware abstraction layer considers hardware drivers and elementary functions, like inverse kinematics for manipulators. The domain level wraps the hardware in autonomous agents. They offer features in the system, can communicate with each other and are respon- sible for local task planning. The third layer enables the global task planning and allows the system to solve more complex tasks that are shared between single agents. The layer is based on an ontology to reduce the effort of implementing and incorporating new agents. Purpose of this work is to build a slim, reliable and effective architecture, which is able to work with heterogeneous robot and smart-home hardware. Furthermore, it should be able to solve dynamically tasks with the available resources.
Erscheinungsjahr
Titel des Konferenzbandes
Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE '16
Seite
1-8
Konferenz
ICMI '16: INTERNATIONAL CONFERENCE ON MULTIMODAL INTERACTION
Konferenzort
Tokyo, Japan
Konferenzdatum
2016-11-16 – 2016-11-16
ISBN
FH-PUB-ID
Zitieren
Rasch, Robin ; Pörtner, Aljoscha ; Hoffmann, Martin ; König, Matthias: A decoupled three-layered architecture for service robotics in intelligent environments. In: Association for Computing Machinery, New York, NY (Hrsg.): Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16. New York, New York, USA : ACM Press, 2016, S. 1–8
Rasch R, Pörtner A, Hoffmann M, König M. A decoupled three-layered architecture for service robotics in intelligent environments. In: Association for Computing Machinery, New York, NY, ed. Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16. New York, New York, USA: ACM Press; 2016:1-8. doi:10.1145/3008028.3008032
Rasch, R., Pörtner, A., Hoffmann, M., & König, M. (2016). A decoupled three-layered architecture for service robotics in intelligent environments. In Association for Computing Machinery, New York, NY (Ed.), Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16 (pp. 1–8). New York, New York, USA: ACM Press. https://doi.org/10.1145/3008028.3008032
@inproceedings{Rasch_Pörtner_Hoffmann_König_2016, place={New York, New York, USA}, title={A decoupled three-layered architecture for service robotics in intelligent environments}, DOI={10.1145/3008028.3008032}, booktitle={Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16}, publisher={ACM Press}, author={Rasch, Robin and Pörtner, Aljoscha and Hoffmann, Martin and König, Matthias}, editor={Association for Computing Machinery, New York, NYEditor}, year={2016}, pages={1–8} }
Rasch, Robin, Aljoscha Pörtner, Martin Hoffmann, and Matthias König. “A Decoupled Three-Layered Architecture for Service Robotics in Intelligent Environments.” In Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16, edited by Association for Computing Machinery, New York, NY, 1–8. New York, New York, USA: ACM Press, 2016. https://doi.org/10.1145/3008028.3008032.
R. Rasch, A. Pörtner, M. Hoffmann, and M. König, “A decoupled three-layered architecture for service robotics in intelligent environments,” in Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16, Tokyo, Japan, 2016, pp. 1–8.
Rasch, Robin, et al. “A Decoupled Three-Layered Architecture for Service Robotics in Intelligent Environments.” Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE ’16, edited by Association for Computing Machinery, New York, NY, ACM Press, 2016, pp. 1–8, doi:10.1145/3008028.3008032.
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