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Handling Hardware Heterogeneity through Rich Interfaces in a Component Model for Autonomous Robotics

Olena Rogovchenko 1 Jacques Malenfant 1
1 MoVe - Modélisation et Vérification
LIP6 - Laboratoire d'Informatique de Paris 6
Abstract : Coping with hardware heterogeneity is one of the hardest challenges in robotic software. Making software architectures capable of adapting to a large spectrum of rapidly changing hardware components, such as sensors and actuators, is indeed crucial. This paper proposes to address the challenge by abstracting components from resources through resource interfaces, that deal with the functional and non-functional constraints on resources, such as their calling protocol, minimal or maximal frequencies of activation, range of domain values, physical constraints (envelope, power consumption), etc. The key contribution of this paper is therefore to capture the requirements of the software architectures and the characteristics of the hardware platform as high level constraints and then to check their compatibility and find appropriate configuration settings by solving this set of constraints. To offer an extensible framework, our current implementation relies on a general constraint solver to check these first at composition and then at deployment times.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01288651
Contributor : Lip6 Publications <>
Submitted on : Tuesday, March 15, 2016 - 2:12:03 PM
Last modification on : Thursday, March 21, 2019 - 2:42:01 PM

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Olena Rogovchenko, Jacques Malenfant. Handling Hardware Heterogeneity through Rich Interfaces in a Component Model for Autonomous Robotics. 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, SIMPAR 2010, Nov 2010, Darmstadt, Germany. pp.312-323, ⟨10.1007/978-3-642-17319-6_30⟩. ⟨hal-01288651⟩

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